diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60ce35b06e52d33a12e8a147343aa60854916e06
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3816e00d492c4777349d63c585bc3df96f580b37a27f92c084e6295b738aea2
+size 3265769
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcebbe0bfc3b56f70088d1768d3e19f37c655596
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ca56c87138a71a4ec2f8d61928384485a79a23f1ab578a5acc1c17731cb3d3a
+size 742560
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8c32c5c5eeab15fa198a54df6c62184e2858eee
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a86bd452bd434de30fe309d28a17c48cefa835be44ab8d401e3619e45ee9171
+size 3207173
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f45ebde468ddd235f0c4032da6b20df5adc1381
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4231a392a5f70cfc73a0a49f71935513cad922f43fca40b5090cc7319e63a10
+size 706905
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11594c9fb25a01784a39195c41bf696087b1fdfb
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b298e8764a3e467b684cc7362bb2587162bb432a1593a54da5ecfb729649ed4
+size 1318802
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1fda4f41ccf6a5737c255672b5831c2aebe0a214
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20ebb18c1396e7a4746f0aa90f0933d873ec9436f363a04d747a01c234b1cc63
+size 509919
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fef7cf6d09a64278809e0b21c35193129f3198b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/env_cfg.json
@@ -0,0 +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:4", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/shelf_with_cleaning_products.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}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.4951748251914978, 0.002323938999325037, 0.00303838774561882], "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}, "whitepackerbottle_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "spawn": null, "init_state": {"pos": [0.28736525774002075, 0.0023219173308461905, 0.0030435509979724884], "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}, "utilityjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "spawn": null, "init_state": {"pos": [0.5175222158432007, 0.13965396583080292, 0.0029999762773513794], "rot": [0.9827805757522583, 1.215864130171703e-07, 2.6798162516524354e-07, 0.18477645933390183], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "spawn": null, "init_state": {"pos": [0.3349469304084778, 0.39741018414497375, 0.06527079641819], "rot": [0.6131772994995115, 0.6131771190009222, 0.3521560420851528, 0.3521555652479958], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "squarepail_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "spawn": null, "init_state": {"pos": [0.4033661054547676, -0.1820307865632952, 0.002999909222126054], "rot": [0.7322364449501036, 4.1123793487004365e-07, 3.568093930259821e-07, 0.6810505037708565], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plasticpail_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "spawn": null, "init_state": {"pos": [-0.15762089192867051, -0.5730319619178744, 0.15215439857621735], "rot": [-0.6061230301856994, -0.00697792104548076, -0.00023375031548243696, 0.7953402581645034], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "spawn": null, "init_state": {"pos": [0.3588706087990672, 0.1415705985534548, 0.0], "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}, "table": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/table", "spawn": 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}, "large_storage_rack": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "spawn": 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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/whitepackerbottle_a02", "/World/envs/env_.*/scene/utilityjug_a01", "/World/envs/env_.*/scene/utilityjug_a02", "/World/envs/env_.*/scene/plasticpail_a02", "/World/envs/env_.*/scene/whitepackerbottle_a03", "/World/envs/env_.*/scene/large_storage_rack"], "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__squarepail_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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__whitepackerbottle_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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__whitepackerbottle_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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__utilityjug_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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__utilityjug_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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__plasticpail_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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__whitepackerbottle_a03": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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_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}}}}, "gripper__large_storage_rack": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "squarepail_a01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "squarepail_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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}}}}, "squarepail_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "squarepail_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "squarepail_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "squarepail_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "squarepail_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "squarepail_a01__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "whitepackerbottle_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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}}}}, "whitepackerbottle_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "whitepackerbottle_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "whitepackerbottle_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "whitepackerbottle_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a01__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "whitepackerbottle_a02__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "whitepackerbottle_a02__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "whitepackerbottle_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "whitepackerbottle_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "whitepackerbottle_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a02__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "utilityjug_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "utilityjug_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "utilityjug_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "utilityjug_a01__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "utilityjug_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "utilityjug_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "utilityjug_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "utilityjug_a02__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "plasticpail_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "plasticpail_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "plasticpail_a02__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "whitepackerbottle_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a03__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "table__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "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": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "any", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7fda6a739940>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7fda6a739760>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7fda6a739940>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7fda6a739760>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7fda6a739940>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7fda6a739760>, object='whitepackerbottle_a03', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "OneBottleInSquarePailTask", "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": "Put any white plastic bottle in the square pail", "contact_object_list": ["squarepail_a01", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "plasticpail_a02", "whitepackerbottle_a03", "table", "large_storage_rack"], "_instruction_variants": {"default": "Put any white plastic bottle in the square pail", "vague": "Put a bottle in the square pail", "specific": "Pick up one of the three white plastic bottles and place it inside the square pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e606802d0022c17464268cecd0465dac208aba6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 145, "events": [{"step": 26, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 145, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac2bfdc0c34dda74fc32cc1661a30dcf6fd5e279
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 1, "success": true, "final_step": 145, "events": [{"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 95, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea819aca2d6905c8225af82766aec33109254f3a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 2, "success": true, "final_step": 68, "events": [{"step": 17, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 54, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 57, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.094m", "score": 0.0}, {"step": 68, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5790851fee65df7865680f13a4690864138d451e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d00b0795294c0b36d96fca03694bfcd067b49c90d30ac6b59905a5106d4973
+size 301482
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cc793b6701ad1ed6cbf2eb1b08b5c6859d5d0269
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d6d7ff4b274885aa3ddb04a36d9ef9ae2b5c453a6b7935b0a4160de4a5dac70
+size 301574
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9c0badbaebdc8140570237636ffa207fe7b1a3be
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/OneBottleInSquarePailTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d251b2f09f8d17e06840fbed7ffb279252181b3ddea7802f9e885d6d80979ef6
+size 271010
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd85b2fc7df0b8810f70d38a4df73434dbe53080
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef2f01758c632b175e9e6ba1342b92e0a062b273619cae714633f80539ee7dd
+size 12864225
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f500e4e4e44d9978637060139e55df427d075c3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8792d271981d239a6746af44ceac15ec9b66a6713005e740ac17691e86fd169a
+size 3438923
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86c064b964e770f75e5de0c573ed6d1520594950
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1092cc2e8547693b3d36800277330c7fb01ed1230c066f5c73b71148361a7ef2
+size 11485828
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9162d8047e701a02c64230901aaed82fd8f73f6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7e3dafcc21903575ef2ef671fb2488a1020e74cbd76beaee410803072c0aa8d
+size 2562418
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5736a273d4c90f7f4ff1c21c6eca6b830dd09a24
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:380880413654ef807b665251a43b959b2aa360240c2007f3e73637ab8d6feef7
+size 9926136
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b11b27127180070aecce0c43c34833ca515ef6a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a8812c4128ef2f292999762bad620431694eeb786b10d57112eaa6cabf798e
+size 2049289
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..f70285795ffbde1d36aaa15344ee6e86be7ea0ba
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/env_cfg.json
@@ -0,0 +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:4", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/shelf_with_cleaning_products.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}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.4951748251914978, 0.002323938999325037, 0.00303838774561882], "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}, "whitepackerbottle_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "spawn": null, "init_state": {"pos": [0.28736525774002075, 0.0023219173308461905, 0.0030435509979724884], "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}, "utilityjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "spawn": null, "init_state": {"pos": [0.5175222158432007, 0.13965396583080292, 0.0029999762773513794], "rot": [0.9827805757522583, 1.215864130171703e-07, 2.6798162516524354e-07, 0.18477645933390183], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "spawn": null, "init_state": {"pos": [0.3349469304084778, 0.39741018414497375, 0.06527079641819], "rot": [0.6131772994995115, 0.6131771190009222, 0.3521560420851528, 0.3521555652479958], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "squarepail_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "spawn": null, "init_state": {"pos": [0.4033661054547676, -0.1820307865632952, 0.002999909222126054], "rot": [0.7322364449501036, 4.1123793487004365e-07, 3.568093930259821e-07, 0.6810505037708565], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plasticpail_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "spawn": null, "init_state": {"pos": [-0.15762089192867051, -0.5730319619178744, 0.15215439857621735], "rot": [-0.6061230301856994, -0.00697792104548076, -0.00023375031548243696, 0.7953402581645034], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "spawn": null, "init_state": {"pos": [0.3588706087990672, 0.1415705985534548, 0.0], "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}, "table": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/table", "spawn": 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}, "large_storage_rack": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "spawn": 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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/whitepackerbottle_a02", "/World/envs/env_.*/scene/utilityjug_a01", "/World/envs/env_.*/scene/utilityjug_a02", "/World/envs/env_.*/scene/squarepail_a01", "/World/envs/env_.*/scene/plasticpail_a02", "/World/envs/env_.*/scene/whitepackerbottle_a03"], "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__large_storage_rack": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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__whitepackerbottle_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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__whitepackerbottle_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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__utilityjug_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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__utilityjug_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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__squarepail_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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__plasticpail_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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__whitepackerbottle_a03": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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_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}}}}, "large_storage_rack__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "large_storage_rack__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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}}}}, "large_storage_rack__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "large_storage_rack__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "large_storage_rack__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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}}}}, "large_storage_rack__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "large_storage_rack__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "large_storage_rack__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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}}}}, "whitepackerbottle_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "whitepackerbottle_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "whitepackerbottle_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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}}}}, "whitepackerbottle_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "whitepackerbottle_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a02__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "whitepackerbottle_a02__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "whitepackerbottle_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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}}}}, "whitepackerbottle_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "whitepackerbottle_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "whitepackerbottle_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "utilityjug_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "utilityjug_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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}}}}, "utilityjug_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "utilityjug_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "utilityjug_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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}}}}, "utilityjug_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "utilityjug_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "utilityjug_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "squarepail_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "squarepail_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "squarepail_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "plasticpail_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "plasticpail_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 180, "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": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7fda6a739940>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7fda6a739760>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7fda6a739940>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7fda6a739760>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7fda6a739940>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7fda6a739760>, object='whitepackerbottle_a03', container='squarepail_a01', 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", "sorting", "size", "complex"], "_task_attributes": ["semantics", "sorting", "size", "complex"], "_task_name": "PlasticBottlesInSquarePailTask", "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": "Put all the small plastic bottles in the square pail", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put all the small plastic bottles in the square pail", "vague": "Clean up small bottles in the square pail", "specific": "Pick up the three small plastic bottles and place them inside the square shaped pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..654125da38f4b436cae18099b344f34d195889b9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 649, "events": [{"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 141, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 142, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 189, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.053m", "score": 0.3333333333333333}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 275, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 297, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 337, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 425, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 426, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 432, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 433, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a01', 'whitepackerbottle_a03'])", "score": 0.6666666666666666}, {"step": 435, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 440, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 498, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 525, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 533, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 533, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 575, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 601, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 608, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 608, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 609, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 649, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..97a7aaf3e78ca5490af57000324d9d46c3002018
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 1, "success": true, "final_step": 553, "events": [{"step": 42, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 51, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 126, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 128, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 128, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 138, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 138, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 146, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 273, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.6666666666666666}, {"step": 327, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.052m", "score": 0.6666666666666666}, {"step": 341, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.054m", "score": 0.6666666666666666}, {"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 509, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 553, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 553, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad1f17e82466c6c219f86045529b23e9e2be293f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 2, "success": true, "final_step": 465, "events": [{"step": 40, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 43, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 46, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 98, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 163, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 249, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 393, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 433, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 465, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 465, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8bf3339bfea64b68b9a353a6d4d3cff37d1f04ae
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c5c7979e6bb34d952fed4154c4ffcc25106c1188ac7b1b132c2e798fdd351e6
+size 549693
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b3370cfe47ed8d41f65939eea3f3c0513a281510
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7b0037169444d00988bd901f14f1edd72b16ffc55fee6c581a3740355596943
+size 508118
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f284e85cc0570cdbf5f6e413d94039d65da3f473
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc527568cf1c42f1a3c35d1e01896b2ebb0aa0f79231d7824ba5d5322c50ed13
+size 448529
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_image640/gpu_4/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..868f2d41612a531ebfe9f7aba20c7aee85bebdb9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f573c38ffee3ff98c052363e603101fc047e4627d0a455a7711eebef6858a7
+size 14429
diff --git a/harness_robolab_exploration/embo_image640/gpu_4/server.log b/harness_robolab_exploration/embo_image640/gpu_4/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..95b959a3d7942a81a8755edc077ffc443f0baf28
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_4/server.log
@@ -0,0 +1,36 @@
+[2026-11-02T00:40:08Z] GPU 4: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8100
+INFO:websockets.server:server listening on 127.0.0.1:8100
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 49758) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c84113b617e24391ad8beea64612cc74-0 (codex/gpt-6-astra) ended: wall=3756.650s harness=3521.797s tokens=8499822 usage_complete=False decisions=82 executed_steps=649 steps_complete=True network_wait=5587.527047894895 rate_limit_wait=0 rate_limit_count=0 excluded=5587.527047894895 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2eb5aa5dc8f8495eb1db8bf90a60dc90-1 (codex/gpt-6-astra) ended: wall=3149.969s harness=2945.094s tokens=6925929 usage_complete=False decisions=70 executed_steps=553 steps_complete=True network_wait=1679.97835201025 rate_limit_wait=0 rate_limit_count=0 excluded=1679.97835201025 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 40bc43fe61bc4562aac044748e7fec7b-2 (codex/gpt-6-astra) ended: wall=2207.291s harness=2038.794s tokens=5580311 usage_complete=False decisions=59 executed_steps=465 steps_complete=True network_wait=522.2181022316217 rate_limit_wait=0 rate_limit_count=0 excluded=522.2181022316217 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e84c19670cea4c47991ccb3295161cde-0 (codex/gpt-6-astra) ended: wall=647.396s harness=595.120s tokens=1157648 usage_complete=True decisions=19 executed_steps=145 steps_complete=True network_wait=257.1070013642311 rate_limit_wait=0 rate_limit_count=0 excluded=257.1070013642311 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 72d6d2632e25482683a428d946a00a68-1 (codex/gpt-6-astra) ended: wall=627.197s harness=574.692s tokens=1555268 usage_complete=False decisions=19 executed_steps=145 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 01575e5722fc436e9796e8cd3b52f655-2 (codex/gpt-6-astra) ended: wall=375.699s harness=350.265s tokens=723756 usage_complete=False decisions=9 executed_steps=68 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode eb0713ddc0974772bf459135560be2bf-0 (codex/gpt-6-astra) ended: wall=582.579s harness=530.937s tokens=1594673 usage_complete=False decisions=21 executed_steps=161 steps_complete=True network_wait=596.9678058847785 rate_limit_wait=0 rate_limit_count=0 excluded=596.9678058847785 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a30be3dbb48647bcba7e04a342346149-1 (codex/gpt-6-astra) ended: wall=1245.202s harness=1168.009s tokens=2415539 usage_complete=False decisions=30 executed_steps=233 steps_complete=True network_wait=1298.4557888582349 rate_limit_wait=0 rate_limit_count=0 excluded=1298.4557888582349 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b7c8fd07c82a4105aff91c385f8d7a2e-2 (codex/gpt-6-astra) ended: wall=790.743s harness=725.821s tokens=2138580 usage_complete=False decisions=27 executed_steps=209 steps_complete=True network_wait=284.6759169027209 rate_limit_wait=0 rate_limit_count=0 excluded=284.6759169027209 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8e6c612dc46e479f8f30f1099adc3b4a-0 (codex/gpt-6-astra) ended: wall=1071.854s harness=1020.942s tokens=2247959 usage_complete=False decisions=27 executed_steps=209 steps_complete=True network_wait=279.1999571695924 rate_limit_wait=0 rate_limit_count=0 excluded=279.1999571695924 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 26e0e7f760d04848a4704c81ca75cde1-1 (codex/gpt-6-astra) ended: wall=1472.843s harness=1400.377s tokens=3251423 usage_complete=False decisions=38 executed_steps=300 steps_complete=True network_wait=493.2663675099611 rate_limit_wait=0 rate_limit_count=0 excluded=493.2663675099611 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e82176967ad64898975b24cf1bfeb866-2 (codex/gpt-6-astra) ended: wall=1029.304s harness=975.164s tokens=2312697 usage_complete=False decisions=29 executed_steps=231 steps_complete=True network_wait=374.40704473108053 rate_limit_wait=0 rate_limit_count=0 excluded=374.40704473108053 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_4/harness/20261102T004010.739511Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 49758) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/client.log b/harness_robolab_exploration/embo_image640/gpu_5/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..a1d053f0a8b7c1eb3abbd2564d2aa1c06af80653
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/client.log
@@ -0,0 +1,959 @@
+[2026-11-02T00:40:08Z] GPU 5: Starting worker at FruitsOnionToPlateTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:5
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261102_004012.log
+2026-11-02T00:40:13Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-02T00:40:13Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-02T00:40:13Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-02T00:40:13Z [28ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-02T00:40:13Z [30ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-02T00:40:13Z [32ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-02T00:40:13Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-02T00:40:13Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-02T00:40:13Z [55ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-02T00:40:13Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-02T00:40:13Z [60ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-02T00:40:13Z [62ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-02T00:40:13Z [65ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-02T00:40:13Z [68ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-02T00:40:13Z [71ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-02T00:40:13Z [112ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-02T00:40:13Z [144ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-02T00:40:17Z [4,685ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:17Z [4,686ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:17Z [4,780ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-02T00:40:20Z [7,836ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:20Z [7,836ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:20Z [7,837ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 919335
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-02T00:40:28Z [15,896ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-02T00:40:28Z [15,896ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 897.10   2.70   2.94   4.18   2.49   3.37   3.56   5.69 
+     1   2.25 906.32   2.87   3.53   2.65   3.15   4.78   9.66 
+     2   4.26   2.19 899.56   2.19   4.86   4.61   4.70   5.40 
+     3   4.44   7.08   5.83 851.50   3.55   5.82   6.65   6.64 
+     4   5.67   6.84   8.26  11.98 901.65  17.55  12.95   6.22 
+     5   7.46  12.09  14.85  16.28   1.54 925.10  17.64   3.10 
+     6  10.94  11.12  14.81  15.46  12.16   2.41 912.14   1.32 
+     7  22.11  22.38  22.48  17.13  17.15  13.34   2.69 916.96 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  22.92  17.04  29.63  13.55  13.81  13.15  23.71 
+     1  19.03   1.36  18.62  20.22  11.51  11.63  11.94  25.44 
+     2  16.65  20.55   1.39  23.44  12.86  13.10  12.48  24.36 
+     3  12.14  21.27  23.31   1.43  13.22  14.23  14.80  23.70 
+     4  14.77  20.22  19.73  18.72   1.43  11.43  10.52  22.03 
+     5  11.73  19.41  20.83  20.91  14.69   1.39  10.39  26.00 
+     6  13.73  19.78  20.36  11.57  26.02  18.29   1.40  24.13 
+     7 436.37 512.13 630.67 807.08 319.79 562.78 531.42   1.52 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.67   8.93   9.76   8.25   7.46   7.38   7.36   7.45 
+     1   8.40   2.60   8.29   8.16   7.32   7.21   7.17   7.29 
+     2   8.35   8.24   2.56   8.13   7.45   8.74   7.27   7.39 
+     3   8.22   8.02   8.27   2.55   7.44   7.27   7.11   7.33 
+     4   7.76   7.70   7.78   7.46   2.32   6.79   6.67   6.80 
+     5   7.70   7.64   7.72   7.85   6.73   2.29   6.77   6.82 
+     6   7.70   7.52   7.65   7.52   6.63   6.72   2.21   6.80 
+     7   7.71   7.65   7.53   7.52   6.90   6.85   6.64   2.41 
+2026-11-02T00:40:39Z [26,242ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.3 GB/s.
+2026-11-02T00:40:39Z [26,242ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 807.1 us.
+2026-11-02T00:40:39Z [26,242ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-02T00:40:42Z [29,121ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,122ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:42Z [29,191ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,192ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:42Z [29,204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,205ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:42Z [29,404ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,404ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:42Z [29,409ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,409ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:42Z [29,415ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,415ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:44Z [31,385ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-02T00:40:48Z [35,504ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-02T00:41:00Z [47,981ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-02T00:41:02Z [49,653ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-02T00:41:17Z [64,755ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-02T00:41:17Z [64,759ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-02T00:41:18Z [65,414ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-02T00:41:23Z [70,647ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T00:41:23Z [70,647ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T00:41:23Z [70,648ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T00:41:23Z [70,696ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-02T00:41:23Z [70,799ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T00:41:23Z [70,800ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-02T00:41:38Z [85,887ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55955dff77c0>)
+
+2026-11-02T00:41:38Z [85,888ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55955dff77c0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T00:41:45Z [92,343ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.490944 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T00:41:52Z [99,273ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T00:41:52Z [99,273ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T00:41:52Z [99,305ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T00:41:52Z [99,305ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T00:41:52Z [99,313ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T00:41:52Z [99,321ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T00:41:52Z [99,597ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T00:41:52Z [99,624ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T00:41:54Z [101,373ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((45))' not available in the MDL representation.
+2026-11-02T00:41:54Z [101,373ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((45))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,253ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,254ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,254ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,333ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,333ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,333ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,344ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((97))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,345ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((97))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,463ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,463ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,463ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-02T00:41:59Z [106,605ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-02T00:41:59Z [106,605ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,871ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((226))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,872ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((226))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,882ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((231))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,882ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((231))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,540ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-02T00:42:02Z [109,900ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((45))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,901ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((45))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,904ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,904ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,904ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,905ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,906ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,906ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,906ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((97))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,906ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((97))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,910ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,910ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,910ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,914ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,914ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,918ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((226))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,918ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((226))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,919ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((231))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,919ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((231))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.217569 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FruitsOnionToPlateTask                        │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the onion on the plate                    │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FruitsOnionToPlateTaskSceneEnvCfg             │
+│  Attributes  : semantics, vague, simple                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FruitsOnionToPlateTask_0: 'Put the onion on the plate' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:42<10:31:10, 42.12s/it]
  0%|          | 2/900 [00:42<4:25:33, 17.74s/it] 
  0%|          | 3/900 [00:43<2:28:35,  9.94s/it]
  0%|          | 4/900 [00:44<1:33:56,  6.29s/it]
  1%|          | 5/900 [00:44<1:03:35,  4.26s/it]
  1%|          | 6/900 [00:45<45:22,  3.05s/it]  
  1%|          | 7/900 [00:46<33:49,  2.27s/it]
  1%|          | 8/900 [00:46<26:24,  1.78s/it]
  1%|          | 9/900 [01:08<1:58:43,  7.99s/it]
  1%|          | 10/900 [01:09<1:25:11,  5.74s/it]
  1%|          | 11/900 [01:09<1:01:55,  4.18s/it]
  1%|▏         | 12/900 [01:10<45:54,  3.10s/it]  
  1%|▏         | 13/900 [01:11<34:45,  2.35s/it]
  2%|▏         | 14/900 [01:11<27:05,  1.83s/it]
  2%|▏         | 15/900 [01:12<21:47,  1.48s/it]
  2%|▏         | 16/900 [01:13<17:59,  1.22s/it]
  2%|▏         | 17/900 [01:32<1:37:45,  6.64s/it]
  2%|▏         | 18/900 [01:32<1:11:07,  4.84s/it]
  2%|▏         | 19/900 [01:33<52:29,  3.57s/it]  
  2%|▏         | 20/900 [01:34<39:30,  2.69s/it]
  2%|▏         | 21/900 [01:34<30:23,  2.07s/it]
  2%|▏         | 22/900 [01:35<24:02,  1.64s/it]
  3%|▎         | 23/900 [01:36<19:35,  1.34s/it]
  3%|▎         | 24/900 [01:36<16:30,  1.13s/it]
  3%|▎         | 25/900 [01:56<1:38:04,  6.73s/it]
  3%|▎         | 26/900 [01:57<1:11:30,  4.91s/it]
  3%|▎         | 27/900 [01:57<52:51,  3.63s/it]  
  3%|▎         | 28/900 [01:58<39:48,  2.74s/it]
  3%|▎         | 29/900 [01:59<30:36,  2.11s/it]
  3%|▎         | 30/900 [01:59<24:08,  1.66s/it]
  3%|▎         | 31/900 [02:00<19:36,  1.35s/it]
  4%|▎         | 32/900 [02:01<16:29,  1.14s/it]
  4%|▎         | 33/900 [02:11<58:08,  4.02s/it]
  4%|▍         | 34/900 [02:12<43:26,  3.01s/it]
  4%|▍         | 35/900 [02:13<33:07,  2.30s/it]
  4%|▍         | 36/900 [02:13<26:00,  1.81s/it]
  4%|▍         | 37/900 [02:14<20:50,  1.45s/it]
  4%|▍         | 38/900 [02:14<17:13,  1.20s/it]
  4%|▍         | 39/900 [02:15<14:41,  1.02s/it]
  4%|▍         | 40/900 [02:16<12:55,  1.11it/s]
  5%|▍         | 41/900 [02:56<3:03:09, 12.79s/it]
  5%|▍         | 42/900 [02:57<2:10:54,  9.15s/it]2026-11-02T00:45:02Z [289,930ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  5%|▍         | 43/900 [02:58<1:34:22,  6.61s/it]
  5%|▍         | 44/900 [02:58<1:08:47,  4.82s/it]
  5%|▌         | 45/900 [02:59<50:46,  3.56s/it]  
  5%|▌         | 46/900 [03:00<38:09,  2.68s/it]
  5%|▌         | 47/900 [03:00<29:21,  2.06s/it]
  5%|▌         | 48/900 [03:01<23:11,  1.63s/it]
  5%|▌         | 49/900 [03:11<1:00:47,  4.29s/it]
  6%|▌         | 50/900 [03:12<45:14,  3.19s/it]  
  6%|▌         | 51/900 [03:13<34:17,  2.42s/it]
  6%|▌         | 52/900 [03:13<26:38,  1.88s/it]
  6%|▌         | 53/900 [03:14<21:17,  1.51s/it]
  6%|▌         | 54/900 [03:14<17:32,  1.24s/it]
  6%|▌         | 55/900 [03:15<14:56,  1.06s/it]
  6%|▌         | 56/900 [03:16<13:06,  1.07it/s]
  6%|▋         | 57/900 [03:43<2:05:06,  8.90s/it]
  6%|▋         | 58/900 [03:44<1:30:12,  6.43s/it]
  7%|▋         | 59/900 [03:44<1:05:48,  4.70s/it]
  7%|▋         | 60/900 [03:45<48:39,  3.48s/it]  
  7%|▋         | 61/900 [03:46<36:38,  2.62s/it]
  7%|▋         | 62/900 [03:46<28:12,  2.02s/it]
  7%|▋         | 63/900 [03:47<22:19,  1.60s/it]
  7%|▋         | 64/900 [03:48<18:20,  1.32s/it]
  7%|▋         | 65/900 [04:11<1:51:08,  7.99s/it]
  7%|▋         | 66/900 [04:12<1:20:28,  5.79s/it]
  7%|▋         | 67/900 [04:12<59:03,  4.25s/it]  
  8%|▊         | 68/900 [04:13<44:02,  3.18s/it]
  8%|▊         | 69/900 [04:14<33:33,  2.42s/it]
  8%|▊         | 70/900 [04:14<26:11,  1.89s/it]
  8%|▊         | 71/900 [04:15<21:04,  1.52s/it]
  8%|▊         | 72/900 [04:16<17:31,  1.27s/it]
  8%|▊         | 73/900 [04:36<1:36:04,  6.97s/it]
  8%|▊         | 74/900 [04:37<1:09:55,  5.08s/it]
  8%|▊         | 75/900 [04:37<51:32,  3.75s/it]  
  8%|▊         | 76/900 [04:38<38:50,  2.83s/it]
  9%|▊         | 77/900 [04:39<29:53,  2.18s/it]
  9%|▊         | 78/900 [04:39<23:40,  1.73s/it]
  9%|▉         | 79/900 [04:40<19:18,  1.41s/it]
  9%|▉         | 80/900 [04:41<16:12,  1.19s/it]
  9%|▉         | 81/900 [05:18<2:44:34, 12.06s/it]
  9%|▉         | 82/900 [05:19<1:57:42,  8.63s/it]
  9%|▉         | 83/900 [05:19<1:25:00,  6.24s/it]
  9%|▉         | 84/900 [05:20<1:02:07,  4.57s/it]
  9%|▉         | 85/900 [05:21<46:09,  3.40s/it]  
 10%|▉         | 86/900 [05:21<35:01,  2.58s/it]
 10%|▉         | 87/900 [05:22<27:11,  2.01s/it]
 10%|▉         | 88/900 [05:23<21:46,  1.61s/it]
 10%|▉         | 89/900 [05:52<2:12:50,  9.83s/it]
 10%|█         | 90/900 [05:53<1:35:38,  7.08s/it]
 10%|█         | 91/900 [05:53<1:09:35,  5.16s/it]
 10%|█         | 92/900 [05:54<51:24,  3.82s/it]  
 10%|█         | 93/900 [05:55<38:40,  2.88s/it]
 10%|█         | 94/900 [05:55<29:46,  2.22s/it]
 11%|█         | 95/900 [05:56<23:29,  1.75s/it]
 11%|█         | 96/900 [05:57<19:03,  1.42s/it]
 11%|█         | 97/900 [06:16<1:31:01,  6.80s/it]
 11%|█         | 98/900 [06:17<1:06:17,  4.96s/it]
 11%|█         | 99/900 [06:17<49:00,  3.67s/it]  
 11%|█         | 100/900 [06:18<36:56,  2.77s/it]
 11%|█         | 101/900 [06:19<28:30,  2.14s/it]
 11%|█▏        | 102/900 [06:19<22:38,  1.70s/it]
 11%|█▏        | 103/900 [06:20<18:35,  1.40s/it]
 12%|█▏        | 104/900 [06:21<15:40,  1.18s/it]
 12%|█▏        | 105/900 [06:34<1:02:28,  4.71s/it]
 12%|█▏        | 106/900 [06:34<46:20,  3.50s/it]  
 12%|█▏        | 107/900 [06:35<35:00,  2.65s/it]
 12%|█▏        | 108/900 [06:36<27:05,  2.05s/it]
 12%|█▏        | 109/900 [06:36<21:29,  1.63s/it]
 12%|█▏        | 110/900 [06:37<17:36,  1.34s/it]
 12%|█▏        | 111/900 [06:38<14:54,  1.13s/it]
 12%|█▏        | 112/900 [06:38<12:59,  1.01it/s]
 13%|█▎        | 113/900 [07:02<1:43:50,  7.92s/it]
 13%|█▎        | 113/900 [07:03<49:09,  3.75s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json.
+FruitsOnionToPlateTask_0 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: True, episode_step: 114, duration: 7.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.845212317428159, 'joint_sparc_mean': -4.812896694929792, 'ee_isj': 1160.4574753111453, 'joint_isj': 25557.015083883034, 'ee_path_length': 1.2367059447210889, 'joint_rmse_mean': 0.9921945634494852, 'ee_speed_max': 0.5505436062812805, 'ee_speed_mean': 0.15817980468273163}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 351.005, 'policy_inference_avg_ms': 3079.0, 'env_step_s': 71.079, 'env_step_avg_ms': 623.5, 'video_write_s': 1.373, 'video_write_avg_ms': 12.0, 'wall_total_s': 423.457, 'it_per_sec': 0.27}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 3c584d86cb0a42b987550bd18eb65c4e-0
+[RoboLab] Running FruitsOnionToPlateTask_1: 'Put the onion on the plate' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:00<15:10:29, 60.77s/it]
  0%|          | 2/900 [01:01<6:20:11, 25.40s/it] 
  0%|          | 3/900 [01:02<3:30:47, 14.10s/it]
  0%|          | 4/900 [01:02<2:11:11,  8.79s/it]
  1%|          | 5/900 [01:03<1:27:29,  5.86s/it]
  1%|          | 6/900 [01:04<1:01:08,  4.10s/it]
  1%|          | 7/900 [01:04<44:25,  2.99s/it]  
  1%|          | 8/900 [01:05<33:20,  2.24s/it]
  1%|          | 9/900 [01:37<2:52:03, 11.59s/it]
  1%|          | 10/900 [01:38<2:01:36,  8.20s/it]
  1%|          | 11/900 [01:38<1:27:03,  5.88s/it]
  1%|▏         | 12/900 [01:39<1:03:17,  4.28s/it]
  1%|▏         | 13/900 [01:39<46:48,  3.17s/it]  
  2%|▏         | 14/900 [01:40<35:22,  2.40s/it]
  2%|▏         | 15/900 [01:41<27:25,  1.86s/it]
  2%|▏         | 16/900 [01:41<21:56,  1.49s/it]
  2%|▏         | 17/900 [02:06<2:03:35,  8.40s/it]
  2%|▏         | 18/900 [02:06<1:29:05,  6.06s/it]
  2%|▏         | 19/900 [02:07<1:05:01,  4.43s/it]
  2%|▏         | 20/900 [02:08<48:16,  3.29s/it]  
  2%|▏         | 21/900 [02:08<36:33,  2.50s/it]
  2%|▏         | 22/900 [02:09<28:22,  1.94s/it]
  3%|▎         | 23/900 [02:10<22:39,  1.55s/it]
  3%|▎         | 24/900 [02:10<18:41,  1.28s/it]
  3%|▎         | 25/900 [02:38<2:13:15,  9.14s/it]
  3%|▎         | 26/900 [02:38<1:35:52,  6.58s/it]
  3%|▎         | 27/900 [02:39<1:09:43,  4.79s/it]
  3%|▎         | 28/900 [02:40<51:33,  3.55s/it]  
  3%|▎         | 29/900 [02:40<38:48,  2.67s/it]
  3%|▎         | 30/900 [02:41<29:52,  2.06s/it]
  3%|▎         | 31/900 [02:42<23:32,  1.63s/it]
  4%|▎         | 32/900 [02:42<19:06,  1.32s/it]
  4%|▎         | 33/900 [03:56<5:33:39, 23.09s/it]
  4%|▍         | 34/900 [03:57<3:55:57, 16.35s/it]
  4%|▍         | 35/900 [03:57<2:47:44, 11.63s/it]
  4%|▍         | 36/900 [03:58<2:00:01,  8.34s/it]
  4%|▍         | 37/900 [03:59<1:26:41,  6.03s/it]
  4%|▍         | 38/900 [03:59<1:03:19,  4.41s/it]
  4%|▍         | 39/900 [04:00<46:59,  3.27s/it]  
  4%|▍         | 40/900 [04:00<35:32,  2.48s/it]
  5%|▍         | 41/900 [04:14<1:25:16,  5.96s/it]
  5%|▍         | 42/900 [04:15<1:02:13,  4.35s/it]
  5%|▍         | 43/900 [04:16<46:05,  3.23s/it]  
  5%|▍         | 44/900 [04:16<34:54,  2.45s/it]
  5%|▌         | 45/900 [04:17<27:05,  1.90s/it]
  5%|▌         | 46/900 [04:18<21:35,  1.52s/it]
  5%|▌         | 47/900 [04:18<17:46,  1.25s/it]
  5%|▌         | 48/900 [04:19<15:05,  1.06s/it]
  5%|▌         | 49/900 [05:35<5:33:40, 23.53s/it]
  6%|▌         | 50/900 [05:35<3:55:55, 16.65s/it]
  6%|▌         | 51/900 [05:36<2:47:35, 11.84s/it]
  6%|▌         | 52/900 [05:37<1:59:48,  8.48s/it]
  6%|▌         | 53/900 [05:37<1:26:25,  6.12s/it]
  6%|▌         | 54/900 [05:38<1:03:05,  4.47s/it]
  6%|▌         | 55/900 [05:38<46:43,  3.32s/it]  
  6%|▌         | 56/900 [05:39<35:19,  2.51s/it]
  6%|▋         | 57/900 [06:15<2:53:56, 12.38s/it]
  6%|▋         | 58/900 [06:15<2:04:14,  8.85s/it]
  7%|▋         | 59/900 [06:16<1:29:27,  6.38s/it]
  7%|▋         | 60/900 [06:16<1:05:11,  4.66s/it]
  7%|▋         | 61/900 [06:17<48:14,  3.45s/it]  
  7%|▋         | 62/900 [06:18<36:25,  2.61s/it]
  7%|▋         | 63/900 [06:18<28:19,  2.03s/it]
  7%|▋         | 64/900 [06:19<22:23,  1.61s/it]
  7%|▋         | 65/900 [06:52<2:32:00, 10.92s/it]
  7%|▋         | 66/900 [06:52<1:48:54,  7.83s/it]
  7%|▋         | 67/900 [06:53<1:18:45,  5.67s/it]
  8%|▊         | 68/900 [06:54<57:40,  4.16s/it]  
  8%|▊         | 69/900 [06:54<42:58,  3.10s/it]
  8%|▊         | 70/900 [06:55<32:44,  2.37s/it]
  8%|▊         | 71/900 [06:55<25:33,  1.85s/it]
  8%|▊         | 72/900 [06:56<20:30,  1.49s/it]
  8%|▊         | 73/900 [08:03<4:51:11, 21.13s/it]
  8%|▊         | 74/900 [08:04<3:26:11, 14.98s/it]
  8%|▊         | 75/900 [08:04<2:26:46, 10.67s/it]
  8%|▊         | 76/900 [08:05<1:45:18,  7.67s/it]
  9%|▊         | 77/900 [08:06<1:16:12,  5.56s/it]
  9%|▊         | 78/900 [08:06<55:55,  4.08s/it]  
  9%|▉         | 79/900 [08:07<41:46,  3.05s/it]
  9%|▉         | 80/900 [08:08<31:49,  2.33s/it]
  9%|▉         | 81/900 [08:22<1:21:57,  6.00s/it]
  9%|▉         | 82/900 [08:23<1:00:01,  4.40s/it]
  9%|▉         | 83/900 [08:23<44:40,  3.28s/it]  
  9%|▉         | 84/900 [08:24<33:57,  2.50s/it]
  9%|▉         | 85/900 [08:25<26:30,  1.95s/it]
 10%|▉         | 86/900 [08:25<21:15,  1.57s/it]
 10%|▉         | 87/900 [08:26<17:37,  1.30s/it]
 10%|▉         | 88/900 [08:27<14:59,  1.11s/it]
 10%|▉         | 89/900 [08:51<1:50:36,  8.18s/it]
 10%|█         | 90/900 [08:52<1:20:22,  5.95s/it]
 10%|█         | 91/900 [08:53<59:06,  4.38s/it]  
 10%|█         | 92/900 [08:54<44:14,  3.28s/it]
 10%|█         | 93/900 [08:54<33:55,  2.52s/it]
 10%|█         | 94/900 [08:55<26:42,  1.99s/it]
 11%|█         | 95/900 [08:56<21:32,  1.61s/it]
 11%|█         | 96/900 [08:57<18:02,  1.35s/it]
 11%|█         | 97/900 [09:19<1:42:55,  7.69s/it]
 11%|█         | 98/900 [09:20<1:14:44,  5.59s/it]
 11%|█         | 99/900 [09:20<54:55,  4.11s/it]  
 11%|█         | 100/900 [09:21<41:03,  3.08s/it]
 11%|█         | 101/900 [09:22<31:22,  2.36s/it]
 11%|█▏        | 102/900 [09:22<24:33,  1.85s/it]
 11%|█▏        | 103/900 [09:23<19:45,  1.49s/it]
 12%|█▏        | 104/900 [09:24<16:24,  1.24s/it]
 12%|█▏        | 105/900 [10:03<2:45:28, 12.49s/it]
 12%|█▏        | 106/900 [10:03<1:58:30,  8.96s/it]
 12%|█▏        | 107/900 [10:04<1:25:37,  6.48s/it]
 12%|█▏        | 108/900 [10:05<1:02:30,  4.73s/it]
 12%|█▏        | 109/900 [10:05<46:17,  3.51s/it]  
 12%|█▏        | 110/900 [10:06<34:57,  2.66s/it]
 12%|█▏        | 111/900 [10:07<27:07,  2.06s/it]
 12%|█▏        | 112/900 [10:07<21:38,  1.65s/it]
 13%|█▎        | 113/900 [11:03<3:54:31, 17.88s/it]
 13%|█▎        | 114/900 [11:04<2:46:43, 12.73s/it]
 13%|█▎        | 115/900 [11:04<1:59:18,  9.12s/it]
 13%|█▎        | 116/900 [11:05<1:25:56,  6.58s/it]
 13%|█▎        | 117/900 [11:06<1:02:38,  4.80s/it]
 13%|█▎        | 118/900 [11:06<46:21,  3.56s/it]  
 13%|█▎        | 119/900 [11:07<35:01,  2.69s/it]
 13%|█▎        | 120/900 [11:08<27:06,  2.09s/it]
 13%|█▎        | 121/900 [13:07<8:01:58, 37.12s/it]
 14%|█▎        | 122/900 [13:07<5:39:32, 26.19s/it]
 14%|█▎        | 123/900 [13:08<3:59:59, 18.53s/it]
 14%|█▍        | 124/900 [13:09<2:50:18, 13.17s/it]
 14%|█▍        | 124/900 [13:09<1:22:22,  6.37s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json.
+FruitsOnionToPlateTask_1 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: True, episode_step: 125, duration: 8.333333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.9137160244745592, 'joint_sparc_mean': -4.599321743166095, 'ee_isj': 525.7200460138885, 'joint_isj': 5084.8849760125295, 'ee_path_length': 1.1796683245399473, 'joint_rmse_mean': 0.9987604163708502, 'ee_speed_max': 0.3673804700374603, 'ee_speed_mean': 0.13289134204387665}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 711.36, 'policy_inference_avg_ms': 5690.9, 'env_step_s': 76.957, 'env_step_avg_ms': 615.7, 'video_write_s': 1.447, 'video_write_avg_ms': 11.6, 'wall_total_s': 789.764, 'it_per_sec': 0.16}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: c48381f1507d4204aa194ed1fb69e014-1
+[RoboLab] Running FruitsOnionToPlateTask_2: 'Put the onion on the plate' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:53<13:26:50, 53.85s/it]
  0%|          | 2/900 [00:54<5:37:28, 22.55s/it] 
  0%|          | 3/900 [00:55<3:07:27, 12.54s/it]
  0%|          | 4/900 [00:55<1:57:00,  7.84s/it]
  1%|          | 5/900 [00:56<1:18:05,  5.23s/it]
  1%|          | 6/900 [00:56<54:39,  3.67s/it]  
  1%|          | 7/900 [00:57<39:46,  2.67s/it]
  1%|          | 8/900 [00:58<30:02,  2.02s/it]
  1%|          | 9/900 [01:11<1:24:14,  5.67s/it]
  1%|          | 10/900 [01:12<1:01:02,  4.12s/it]
  1%|          | 11/900 [01:13<45:06,  3.04s/it]  
  1%|▏         | 12/900 [01:13<34:08,  2.31s/it]
  1%|▏         | 13/900 [01:14<26:35,  1.80s/it]
  2%|▏         | 14/900 [01:15<21:22,  1.45s/it]
  2%|▏         | 15/900 [01:15<17:40,  1.20s/it]
  2%|▏         | 16/900 [01:16<15:04,  1.02s/it]
  2%|▏         | 17/900 [02:57<7:38:17, 31.14s/it]
  2%|▏         | 18/900 [02:58<5:23:03, 21.98s/it]
  2%|▏         | 19/900 [02:58<3:48:33, 15.57s/it]
  2%|▏         | 20/900 [02:59<2:42:31, 11.08s/it]
  2%|▏         | 21/900 [03:00<1:56:21,  7.94s/it]
  2%|▏         | 22/900 [03:00<1:24:06,  5.75s/it]
  3%|▎         | 23/900 [03:01<1:01:36,  4.22s/it]
  3%|▎         | 24/900 [03:01<45:50,  3.14s/it]  
  3%|▎         | 25/900 [03:30<2:35:33, 10.67s/it]
  3%|▎         | 26/900 [03:30<1:51:27,  7.65s/it]
  3%|▎         | 27/900 [03:31<1:20:37,  5.54s/it]
  3%|▎         | 28/900 [03:32<59:04,  4.06s/it]  
  3%|▎         | 29/900 [03:32<44:00,  3.03s/it]
  3%|▎         | 30/900 [03:33<33:28,  2.31s/it]
  3%|▎         | 31/900 [03:33<26:09,  1.81s/it]
  4%|▎         | 32/900 [03:34<21:10,  1.46s/it]
  4%|▎         | 33/900 [03:50<1:25:35,  5.92s/it]
  4%|▍         | 34/900 [03:51<1:02:38,  4.34s/it]
  4%|▍         | 35/900 [03:52<46:36,  3.23s/it]  
  4%|▍         | 36/900 [03:52<35:20,  2.45s/it]
  4%|▍         | 37/900 [03:53<27:26,  1.91s/it]
  4%|▍         | 38/900 [03:54<21:58,  1.53s/it]
  4%|▍         | 39/900 [03:54<18:07,  1.26s/it]
  4%|▍         | 40/900 [03:55<15:25,  1.08s/it]
  5%|▍         | 41/900 [04:58<4:40:57, 19.62s/it]
  5%|▍         | 42/900 [04:58<3:19:12, 13.93s/it]
  5%|▍         | 43/900 [04:59<2:22:02,  9.94s/it]
  5%|▍         | 44/900 [05:00<1:42:07,  7.16s/it]
  5%|▌         | 45/900 [05:00<1:14:09,  5.20s/it]
  5%|▌         | 46/900 [05:01<54:33,  3.83s/it]  
  5%|▌         | 47/900 [05:02<40:49,  2.87s/it]
  5%|▌         | 48/900 [05:02<31:14,  2.20s/it]
  5%|▌         | 49/900 [05:41<3:07:52, 13.25s/it]
  6%|▌         | 50/900 [05:42<2:14:00,  9.46s/it]
  6%|▌         | 51/900 [05:43<1:36:20,  6.81s/it]
  6%|▌         | 52/900 [05:43<1:10:09,  4.96s/it]
  6%|▌         | 53/900 [05:44<51:47,  3.67s/it]  
  6%|▌         | 54/900 [05:44<38:58,  2.76s/it]
  6%|▌         | 55/900 [05:45<29:59,  2.13s/it]
  6%|▌         | 56/900 [05:46<23:43,  1.69s/it]
  6%|▋         | 57/900 [07:07<6:01:00, 25.69s/it]
  6%|▋         | 58/900 [07:08<4:15:09, 18.18s/it]
  7%|▋         | 59/900 [07:09<3:01:05, 12.92s/it]
  7%|▋         | 60/900 [07:09<2:09:20,  9.24s/it]
  7%|▋         | 61/900 [07:10<1:33:09,  6.66s/it]
  7%|▋         | 62/900 [07:11<1:07:51,  4.86s/it]
  7%|▋         | 63/900 [07:11<50:08,  3.59s/it]  
  7%|▋         | 64/900 [07:12<37:44,  2.71s/it]
  7%|▋         | 65/900 [07:30<1:40:12,  7.20s/it]
  7%|▋         | 66/900 [07:30<1:12:46,  5.24s/it]
  7%|▋         | 67/900 [07:31<53:32,  3.86s/it]  
  8%|▊         | 68/900 [07:32<40:05,  2.89s/it]
  8%|▊         | 69/900 [07:32<30:45,  2.22s/it]
  8%|▊         | 70/900 [07:33<24:12,  1.75s/it]
  8%|▊         | 71/900 [07:34<19:34,  1.42s/it]
  8%|▊         | 72/900 [07:34<16:21,  1.19s/it]
  8%|▊         | 73/900 [07:47<1:02:26,  4.53s/it]
  8%|▊         | 74/900 [07:47<46:28,  3.38s/it]  
  8%|▊         | 75/900 [07:48<35:08,  2.56s/it]
  8%|▊         | 76/900 [07:49<27:12,  1.98s/it]
  9%|▊         | 77/900 [07:49<21:33,  1.57s/it]
  9%|▊         | 78/900 [07:50<17:36,  1.28s/it]
  9%|▉         | 79/900 [07:50<14:50,  1.08s/it]
  9%|▉         | 80/900 [07:51<12:57,  1.05it/s]
  9%|▉         | 81/900 [08:34<3:06:48, 13.69s/it]
  9%|▉         | 82/900 [08:35<2:13:13,  9.77s/it]
  9%|▉         | 83/900 [08:36<1:35:41,  7.03s/it]
  9%|▉         | 84/900 [08:36<1:09:32,  5.11s/it]
  9%|▉         | 85/900 [08:37<51:10,  3.77s/it]  
 10%|▉         | 86/900 [08:38<38:30,  2.84s/it]
 10%|▉         | 87/900 [08:38<29:27,  2.17s/it]
 10%|▉         | 88/900 [08:39<23:09,  1.71s/it]
 10%|▉         | 89/900 [09:10<2:21:16, 10.45s/it]
 10%|█         | 90/900 [09:10<1:41:15,  7.50s/it]
 10%|█         | 91/900 [09:11<1:13:16,  5.44s/it]
 10%|█         | 92/900 [09:12<53:44,  3.99s/it]  
 10%|█         | 93/900 [09:12<40:04,  2.98s/it]
 10%|█         | 94/900 [09:13<30:30,  2.27s/it]
 11%|█         | 95/900 [09:13<23:49,  1.78s/it]
 11%|█         | 96/900 [09:14<19:08,  1.43s/it]
 11%|█         | 97/900 [10:51<6:42:23, 30.07s/it]
 11%|█         | 98/900 [10:52<4:43:54, 21.24s/it]
 11%|█         | 99/900 [10:52<3:20:59, 15.06s/it]
 11%|█         | 100/900 [10:53<2:22:57, 10.72s/it]
 11%|█         | 101/900 [10:53<1:42:26,  7.69s/it]
 11%|█▏        | 102/900 [10:54<1:14:08,  5.57s/it]
 11%|█▏        | 103/900 [10:55<54:21,  4.09s/it]  
 12%|█▏        | 104/900 [10:55<40:31,  3.05s/it]
 12%|█▏        | 105/900 [13:03<8:55:16, 40.40s/it]
 12%|█▏        | 106/900 [13:03<6:16:39, 28.46s/it]
 12%|█▏        | 107/900 [13:04<4:25:49, 20.11s/it]
 12%|█▏        | 108/900 [13:05<3:08:23, 14.27s/it]
 12%|█▏        | 109/900 [13:05<2:14:14, 10.18s/it]
 12%|█▏        | 110/900 [13:06<1:36:23,  7.32s/it]
 12%|█▏        | 111/900 [13:07<1:09:54,  5.32s/it]
 12%|█▏        | 112/900 [13:07<51:18,  3.91s/it]  
 13%|█▎        | 113/900 [17:42<18:38:21, 85.26s/it]
 13%|█▎        | 114/900 [17:43<13:04:18, 59.87s/it]
 13%|█▎        | 115/900 [17:44<9:10:45, 42.10s/it] 
 13%|█▎        | 116/900 [17:44<6:27:27, 29.65s/it]
 13%|█▎        | 117/900 [17:45<4:33:20, 20.95s/it]
 13%|█▎        | 118/900 [17:46<3:13:32, 14.85s/it]
 13%|█▎        | 119/900 [17:46<2:17:44, 10.58s/it]
 13%|█▎        | 120/900 [17:47<1:38:44,  7.60s/it]
 13%|█▎        | 121/900 [18:24<3:35:20, 16.59s/it]
 14%|█▎        | 122/900 [18:25<2:32:56, 11.79s/it]
 14%|█▎        | 123/900 [18:26<1:49:18,  8.44s/it]
 14%|█▍        | 124/900 [18:26<1:18:47,  6.09s/it]
 14%|█▍        | 125/900 [18:27<57:31,  4.45s/it]  
 14%|█▍        | 126/900 [18:27<42:36,  3.30s/it]
 14%|█▍        | 127/900 [18:28<32:10,  2.50s/it]
 14%|█▍        | 128/900 [18:29<24:52,  1.93s/it]
 14%|█▍        | 129/900 [18:54<1:55:13,  8.97s/it]
 14%|█▍        | 130/900 [18:55<1:23:04,  6.47s/it]
 15%|█▍        | 131/900 [18:55<1:00:40,  4.73s/it]
 15%|█▍        | 132/900 [18:56<45:02,  3.52s/it]  
 15%|█▍        | 133/900 [18:57<33:57,  2.66s/it]
 15%|█▍        | 134/900 [18:57<26:11,  2.05s/it]
 15%|█▌        | 135/900 [18:58<20:44,  1.63s/it]
 15%|█▌        | 136/900 [18:59<16:58,  1.33s/it]
 15%|█▌        | 137/900 [19:27<2:01:33,  9.56s/it]
 15%|█▌        | 138/900 [19:28<1:27:25,  6.88s/it]
 15%|█▌        | 139/900 [19:29<1:03:31,  5.01s/it]
 16%|█▌        | 140/900 [19:29<46:51,  3.70s/it]  
 16%|█▌        | 141/900 [19:30<35:16,  2.79s/it]
 16%|█▌        | 142/900 [19:31<27:09,  2.15s/it]
 16%|█▌        | 143/900 [19:31<21:32,  1.71s/it]
 16%|█▌        | 144/900 [19:32<17:34,  1.39s/it]
 16%|█▌        | 145/900 [20:08<2:27:38, 11.73s/it]
 16%|█▌        | 146/900 [20:08<1:45:46,  8.42s/it]
 16%|█▋        | 147/900 [20:09<1:16:39,  6.11s/it]
 16%|█▋        | 148/900 [20:10<56:19,  4.49s/it]  
 17%|█▋        | 149/900 [20:11<42:01,  3.36s/it]
 17%|█▋        | 150/900 [20:11<31:50,  2.55s/it]
 17%|█▋        | 151/900 [20:12<24:41,  1.98s/it]
 17%|█▋        | 152/900 [20:13<19:46,  1.59s/it]
 17%|█▋        | 153/900 [21:17<4:14:59, 20.48s/it]
 17%|█▋        | 154/900 [21:18<3:00:43, 14.54s/it]
 17%|█▋        | 155/900 [21:19<2:08:52, 10.38s/it]
 17%|█▋        | 156/900 [21:19<1:32:33,  7.46s/it]
 17%|█▋        | 157/900 [21:20<1:07:08,  5.42s/it]
 18%|█▊        | 158/900 [21:21<49:24,  4.00s/it]  
 18%|█▊        | 159/900 [21:21<36:58,  2.99s/it]
 18%|█▊        | 160/900 [21:22<28:19,  2.30s/it]
 18%|█▊        | 161/900 [21:39<1:21:47,  6.64s/it]
 18%|█▊        | 162/900 [21:39<59:37,  4.85s/it]  
 18%|█▊        | 163/900 [21:40<44:05,  3.59s/it]
 18%|█▊        | 164/900 [21:41<33:21,  2.72s/it]
 18%|█▊        | 165/900 [21:41<25:50,  2.11s/it]
 18%|█▊        | 166/900 [21:42<20:29,  1.68s/it]
 19%|█▊        | 167/900 [21:43<16:42,  1.37s/it]
 19%|█▊        | 168/900 [21:43<14:04,  1.15s/it]
 19%|█▉        | 169/900 [22:48<4:06:12, 20.21s/it]
 19%|█▉        | 170/900 [22:49<2:54:31, 14.34s/it]
 19%|█▉        | 171/900 [22:49<2:04:24, 10.24s/it]
 19%|█▉        | 172/900 [22:50<1:29:18,  7.36s/it]
 19%|█▉        | 173/900 [22:51<1:04:55,  5.36s/it]
 19%|█▉        | 174/900 [22:51<47:48,  3.95s/it]  
 19%|█▉        | 175/900 [22:52<35:48,  2.96s/it]
 20%|█▉        | 176/900 [22:53<27:23,  2.27s/it]
 20%|█▉        | 177/900 [23:22<2:06:11, 10.47s/it]
 20%|█▉        | 178/900 [23:23<1:30:37,  7.53s/it]
 20%|█▉        | 179/900 [23:24<1:05:45,  5.47s/it]
 20%|██        | 180/900 [23:24<48:20,  4.03s/it]  
 20%|██        | 181/900 [23:25<36:13,  3.02s/it]
 20%|██        | 182/900 [23:26<27:45,  2.32s/it]
 20%|██        | 183/900 [23:26<21:45,  1.82s/it]
 20%|██        | 184/900 [23:27<17:33,  1.47s/it]
 21%|██        | 185/900 [26:36<11:29:53, 57.89s/it]
 21%|██        | 186/900 [26:37<8:04:32, 40.72s/it] 
 21%|██        | 187/900 [26:38<5:40:59, 28.70s/it]
 21%|██        | 188/900 [26:38<4:00:40, 20.28s/it]
 21%|██        | 189/900 [26:39<2:50:32, 14.39s/it]
 21%|██        | 190/900 [26:40<2:01:28, 10.27s/it]
 21%|██        | 191/900 [26:40<1:27:11,  7.38s/it]
 21%|██▏       | 192/900 [26:41<1:03:15,  5.36s/it]
 21%|██▏       | 193/900 [27:51<4:51:44, 24.76s/it]
 22%|██▏       | 194/900 [27:52<3:26:13, 17.53s/it]
 22%|██▏       | 195/900 [27:52<2:26:25, 12.46s/it]
 22%|██▏       | 196/900 [27:53<1:44:37,  8.92s/it]
 22%|██▏       | 197/900 [27:54<1:15:25,  6.44s/it]
 22%|██▏       | 198/900 [27:54<55:00,  4.70s/it]  
 22%|██▏       | 199/900 [27:55<40:42,  3.48s/it]
 22%|██▏       | 200/900 [27:55<30:45,  2.64s/it]
 22%|██▏       | 201/900 [28:39<2:52:38, 14.82s/it]
 22%|██▏       | 202/900 [28:39<2:02:59, 10.57s/it]
 23%|██▎       | 203/900 [28:40<1:28:12,  7.59s/it]
 23%|██▎       | 204/900 [28:41<1:03:49,  5.50s/it]
 23%|██▎       | 205/900 [28:41<46:46,  4.04s/it]  
 23%|██▎       | 206/900 [28:42<34:52,  3.02s/it]
 23%|██▎       | 207/900 [28:43<26:32,  2.30s/it]
 23%|██▎       | 208/900 [28:43<20:41,  1.79s/it]
 23%|██▎       | 209/900 [30:04<4:54:26, 25.57s/it]
 23%|██▎       | 210/900 [30:05<3:27:59, 18.09s/it]
 23%|██▎       | 210/900 [30:06<1:38:54,  8.60s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json.
+FruitsOnionToPlateTask_2 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: True, episode_step: 211, duration: 14.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.902690248575256, 'joint_sparc_mean': -6.805277326139148, 'ee_isj': 985.3324643785722, 'joint_isj': 15028.994259034469, 'ee_path_length': 2.2279084190257024, 'joint_rmse_mean': 0.9354082931092506, 'ee_speed_max': 0.7394869327545166, 'ee_speed_mean': 0.1508132964372635}, events: {'OBJECT_BUMPED': 3, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 1675.313, 'policy_inference_avg_ms': 7939.9, 'env_step_s': 128.786, 'env_step_avg_ms': 610.4, 'video_write_s': 1.818, 'video_write_avg_ms': 8.6, 'wall_total_s': 1805.917, 'it_per_sec': 0.12}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: f81f3da75aa646e9927f100798a6a145-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T01:33:59Z [3,226,626ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.202149 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T01:34:03Z [3,230,293ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T01:34:03Z [3,230,294ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T01:34:03Z [3,230,302ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T01:34:03Z [3,230,302ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T01:34:03Z [3,230,310ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T01:34:03Z [3,230,316ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T01:34:03Z [3,230,333ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[INFO]: Time taken for simulation start : 8.510506 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BlockStackingSpecifiedOrderTask               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Stack the blocks in the order from bottom to top: red, blue, green, yellow │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BlockStackingSpecifiedOrderTaskSceneEnvCfg    │
+│  Attributes  : stacking, color, complex                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BlockStackingSpecifiedOrderTask_0: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 0, 1 envs)
+
  0%|          | 0/1350 [00:00<?, ?it/s]
  0%|          | 1/1350 [01:16<28:50:58, 76.99s/it]
  0%|          | 2/1350 [01:17<11:55:38, 31.85s/it]
  0%|          | 3/1350 [01:17<6:31:05, 17.42s/it] 
  0%|          | 4/1350 [01:17<3:58:37, 10.64s/it]
  0%|          | 5/1350 [01:17<2:34:22,  6.89s/it]
  0%|          | 6/1350 [01:18<1:43:38,  4.63s/it]
  1%|          | 7/1350 [01:18<1:11:26,  3.19s/it]
  1%|          | 8/1350 [01:18<50:22,  2.25s/it]  
  1%|          | 9/1350 [01:29<1:53:08,  5.06s/it]
  1%|          | 10/1350 [01:30<1:19:49,  3.57s/it]
  1%|          | 11/1350 [01:30<57:01,  2.56s/it]  
  1%|          | 12/1350 [01:30<41:15,  1.85s/it]
  1%|          | 13/1350 [01:30<30:19,  1.36s/it]
  1%|          | 14/1350 [01:31<22:44,  1.02s/it]
  1%|          | 15/1350 [01:31<17:30,  1.27it/s]
  1%|          | 16/1350 [01:31<13:49,  1.61it/s]
  1%|▏         | 17/1350 [02:46<8:32:43, 23.08s/it]
  1%|▏         | 18/1350 [02:47<6:00:03, 16.22s/it]
  1%|▏         | 19/1350 [02:47<4:13:19, 11.42s/it]
  1%|▏         | 20/1350 [02:47<2:58:42,  8.06s/it]
  2%|▏         | 21/1350 [02:47<2:06:33,  5.71s/it]
  2%|▏         | 22/1350 [02:48<1:30:05,  4.07s/it]
  2%|▏         | 23/1350 [02:48<1:04:35,  2.92s/it]
  2%|▏         | 24/1350 [02:48<46:46,  2.12s/it]  
  2%|▏         | 25/1350 [02:59<1:43:24,  4.68s/it]
  2%|▏         | 26/1350 [02:59<1:13:54,  3.35s/it]
  2%|▏         | 27/1350 [02:59<53:15,  2.42s/it]  
  2%|▏         | 28/1350 [02:59<38:49,  1.76s/it]
  2%|▏         | 29/1350 [03:00<28:43,  1.30s/it]
  2%|▏         | 30/1350 [03:00<21:43,  1.01it/s]
  2%|▏         | 31/1350 [03:00<16:46,  1.31it/s]
  2%|▏         | 32/1350 [03:00<13:20,  1.65it/s]
  2%|▏         | 33/1350 [03:22<2:33:46,  7.01s/it]
  3%|▎         | 34/1350 [03:23<1:49:11,  4.98s/it]
  3%|▎         | 35/1350 [03:23<1:18:03,  3.56s/it]
  3%|▎         | 36/1350 [03:23<56:18,  2.57s/it]  
  3%|▎         | 37/1350 [03:23<41:05,  1.88s/it]
  3%|▎         | 38/1350 [03:24<30:25,  1.39s/it]
  3%|▎         | 39/1350 [03:24<22:59,  1.05s/it]
  3%|▎         | 40/1350 [03:24<17:47,  1.23it/s]
  3%|▎         | 41/1350 [03:49<2:54:01,  7.98s/it]
  3%|▎         | 42/1350 [03:49<2:03:20,  5.66s/it]
  3%|▎         | 43/1350 [03:49<1:27:59,  4.04s/it]
  3%|▎         | 44/1350 [03:50<1:03:10,  2.90s/it]
  3%|▎         | 45/1350 [03:50<45:51,  2.11s/it]  
  3%|▎         | 46/1350 [03:50<33:40,  1.55s/it]
  3%|▎         | 47/1350 [03:50<25:08,  1.16s/it]
  4%|▎         | 48/1350 [03:51<19:11,  1.13it/s]
  4%|▎         | 49/1350 [03:58<1:00:51,  2.81s/it]
  4%|▎         | 50/1350 [03:58<44:11,  2.04s/it]  
  4%|▍         | 51/1350 [03:58<32:29,  1.50s/it]
  4%|▍         | 52/1350 [03:59<24:20,  1.13s/it]
  4%|▍         | 53/1350 [03:59<18:43,  1.15it/s]
  4%|▍         | 54/1350 [03:59<14:47,  1.46it/s]
  4%|▍         | 55/1350 [03:59<11:57,  1.80it/s]
  4%|▍         | 56/1350 [04:00<09:58,  2.16it/s]
  4%|▍         | 57/1350 [04:33<3:43:11, 10.36s/it]
  4%|▍         | 58/1350 [04:33<2:37:44,  7.33s/it]
  4%|▍         | 59/1350 [04:34<1:52:01,  5.21s/it]
  4%|▍         | 60/1350 [04:34<1:20:01,  3.72s/it]
  5%|▍         | 61/1350 [04:34<57:38,  2.68s/it]  
  5%|▍         | 62/1350 [04:34<41:58,  1.96s/it]
  5%|▍         | 63/1350 [04:35<31:02,  1.45s/it]
  5%|▍         | 64/1350 [04:35<23:22,  1.09s/it]
  5%|▍         | 65/1350 [06:03<9:42:38, 27.20s/it]
  5%|▍         | 66/1350 [06:03<6:49:12, 19.12s/it]
  5%|▍         | 67/1350 [06:04<4:47:53, 13.46s/it]
  5%|▌         | 68/1350 [06:04<3:23:01,  9.50s/it]
  5%|▌         | 69/1350 [06:04<2:23:39,  6.73s/it]
  5%|▌         | 70/1350 [06:04<1:42:08,  4.79s/it]
  5%|▌         | 71/1350 [06:05<1:13:05,  3.43s/it]
  5%|▌         | 72/1350 [06:05<52:46,  2.48s/it]  
  5%|▌         | 73/1350 [06:19<2:03:57,  5.82s/it]
  5%|▌         | 74/1350 [06:19<1:28:21,  4.15s/it]
  6%|▌         | 75/1350 [06:19<1:03:28,  2.99s/it]
  6%|▌         | 76/1350 [06:19<46:02,  2.17s/it]  
  6%|▌         | 77/1350 [06:20<33:51,  1.60s/it]
  6%|▌         | 78/1350 [06:20<25:20,  1.20s/it]
  6%|▌         | 79/1350 [06:20<19:24,  1.09it/s]
  6%|▌         | 80/1350 [06:20<15:15,  1.39it/s]
  6%|▌         | 81/1350 [06:50<3:18:17,  9.38s/it]
  6%|▌         | 82/1350 [06:50<2:20:20,  6.64s/it]
  6%|▌         | 83/1350 [06:50<1:39:48,  4.73s/it]
  6%|▌         | 84/1350 [06:51<1:11:27,  3.39s/it]
  6%|▋         | 85/1350 [06:51<51:36,  2.45s/it]  
  6%|▋         | 86/1350 [06:51<37:43,  1.79s/it]
  6%|▋         | 87/1350 [06:51<28:01,  1.33s/it]
  7%|▋         | 88/1350 [06:52<21:14,  1.01s/it]
  7%|▋         | 89/1350 [07:49<6:13:24, 17.77s/it]
  7%|▋         | 90/1350 [07:49<4:22:50, 12.52s/it]
  7%|▋         | 91/1350 [07:49<3:05:28,  8.84s/it]
  7%|▋         | 92/1350 [07:49<2:11:21,  6.27s/it]
  7%|▋         | 93/1350 [07:50<1:33:31,  4.46s/it]
  7%|▋         | 94/1350 [07:50<1:07:01,  3.20s/it]
  7%|▋         | 95/1350 [07:50<48:31,  2.32s/it]  
  7%|▋         | 96/1350 [07:50<35:33,  1.70s/it]
  7%|▋         | 97/1350 [08:22<3:42:01, 10.63s/it]
  7%|▋         | 98/1350 [08:22<2:36:48,  7.51s/it]
  7%|▋         | 99/1350 [08:22<1:51:12,  5.33s/it]
  7%|▋         | 100/1350 [08:23<1:19:18,  3.81s/it]
  7%|▋         | 101/1350 [08:23<56:57,  2.74s/it]  
  8%|▊         | 102/1350 [08:23<41:20,  1.99s/it]
  8%|▊         | 103/1350 [08:23<30:24,  1.46s/it]
  8%|▊         | 104/1350 [08:24<22:45,  1.10s/it]
  8%|▊         | 105/1350 [10:31<13:28:18, 38.95s/it]
  8%|▊         | 106/1350 [10:31<9:26:51, 27.34s/it] 
  8%|▊         | 107/1350 [10:31<6:37:59, 19.21s/it]
  8%|▊         | 108/1350 [10:32<4:39:51, 13.52s/it]
  8%|▊         | 109/1350 [10:32<3:17:13,  9.54s/it]
  8%|▊         | 110/1350 [10:32<2:19:25,  6.75s/it]
  8%|▊         | 111/1350 [10:32<1:38:59,  4.79s/it]
  8%|▊         | 112/1350 [10:33<1:10:42,  3.43s/it]
  8%|▊         | 113/1350 [11:19<5:35:16, 16.26s/it]
  8%|▊         | 114/1350 [11:19<3:55:59, 11.46s/it]
  9%|▊         | 115/1350 [11:19<2:46:32,  8.09s/it]
  9%|▊         | 116/1350 [11:19<1:57:57,  5.74s/it]
  9%|▊         | 117/1350 [11:20<1:23:58,  4.09s/it]
  9%|▊         | 118/1350 [11:20<1:00:13,  2.93s/it]
  9%|▉         | 119/1350 [11:20<43:35,  2.12s/it]  
  9%|▉         | 120/1350 [11:20<31:58,  1.56s/it]
  9%|▉         | 121/1350 [11:59<4:16:28, 12.52s/it]
  9%|▉         | 122/1350 [11:59<3:00:51,  8.84s/it]
  9%|▉         | 123/1350 [11:59<2:07:58,  6.26s/it]
  9%|▉         | 124/1350 [11:59<1:30:57,  4.45s/it]
  9%|▉         | 125/1350 [11:59<1:05:04,  3.19s/it]
  9%|▉         | 126/1350 [12:00<46:57,  2.30s/it]  
  9%|▉         | 127/1350 [12:00<34:18,  1.68s/it]
  9%|▉         | 128/1350 [12:00<25:27,  1.25s/it]
 10%|▉         | 129/1350 [12:56<5:59:47, 17.68s/it]
 10%|▉         | 130/1350 [12:56<4:13:06, 12.45s/it]
 10%|▉         | 131/1350 [12:57<2:58:34,  8.79s/it]
 10%|▉         | 132/1350 [12:57<2:06:25,  6.23s/it]
 10%|▉         | 133/1350 [12:57<1:29:55,  4.43s/it]
 10%|▉         | 134/1350 [12:57<1:04:24,  3.18s/it]
 10%|█         | 135/1350 [12:58<46:32,  2.30s/it]  
 10%|█         | 136/1350 [12:58<34:01,  1.68s/it]
 10%|█         | 137/1350 [13:25<3:06:27,  9.22s/it]
 10%|█         | 138/1350 [13:25<2:11:51,  6.53s/it]
 10%|█         | 139/1350 [13:25<1:33:39,  4.64s/it]
 10%|█         | 140/1350 [13:25<1:06:57,  3.32s/it]
 10%|█         | 141/1350 [13:26<48:16,  2.40s/it]  
 11%|█         | 142/1350 [13:26<35:12,  1.75s/it]
 11%|█         | 143/1350 [13:26<26:04,  1.30s/it]
 11%|█         | 144/1350 [13:26<19:40,  1.02it/s]
 11%|█         | 145/1350 [15:25<12:08:14, 36.26s/it]
 11%|█         | 146/1350 [15:25<8:30:57, 25.46s/it] 
 11%|█         | 147/1350 [15:26<5:58:54, 17.90s/it]
 11%|█         | 148/1350 [15:26<4:12:32, 12.61s/it]
 11%|█         | 149/1350 [15:26<2:58:09,  8.90s/it]
 11%|█         | 150/1350 [15:26<2:06:07,  6.31s/it]
 11%|█         | 151/1350 [15:27<1:29:45,  4.49s/it]
 11%|█▏        | 152/1350 [15:27<1:04:29,  3.23s/it]
 11%|█▏        | 153/1350 [18:10<17:03:02, 51.28s/it]
 11%|█▏        | 154/1350 [18:11<11:57:07, 35.98s/it]
 11%|█▏        | 155/1350 [18:11<8:23:06, 25.26s/it] 
 12%|█▏        | 156/1350 [18:11<5:53:26, 17.76s/it]
 12%|█▏        | 157/1350 [18:11<4:08:45, 12.51s/it]
 12%|█▏        | 158/1350 [18:12<2:55:32,  8.84s/it]
 12%|█▏        | 159/1350 [18:12<2:04:20,  6.26s/it]
 12%|█▏        | 160/1350 [18:12<1:28:32,  4.46s/it]
 12%|█▏        | 161/1350 [18:29<2:41:39,  8.16s/it]
 12%|█▏        | 162/1350 [18:29<1:54:37,  5.79s/it]
 12%|█▏        | 163/1350 [18:29<1:21:42,  4.13s/it]
 12%|█▏        | 164/1350 [18:30<58:41,  2.97s/it]  
 12%|█▏        | 165/1350 [18:30<42:37,  2.16s/it]
 12%|█▏        | 166/1350 [18:30<31:21,  1.59s/it]
 12%|█▏        | 167/1350 [18:30<23:31,  1.19s/it]
 12%|█▏        | 168/1350 [18:31<18:01,  1.09it/s]
 13%|█▎        | 169/1350 [18:47<1:48:26,  5.51s/it]
 13%|█▎        | 170/1350 [18:47<1:17:25,  3.94s/it]
 13%|█▎        | 171/1350 [18:47<55:44,  2.84s/it]  
 13%|█▎        | 172/1350 [18:48<40:31,  2.06s/it]
 13%|█▎        | 173/1350 [18:48<29:56,  1.53s/it]
 13%|█▎        | 174/1350 [18:48<22:29,  1.15s/it]
 13%|█▎        | 175/1350 [18:49<17:16,  1.13it/s]
 13%|█▎        | 176/1350 [18:49<13:36,  1.44it/s]
 13%|█▎        | 177/1350 [19:58<6:57:43, 21.37s/it]
 13%|█▎        | 178/1350 [19:59<4:53:44, 15.04s/it]
 13%|█▎        | 179/1350 [19:59<3:26:58, 10.61s/it]
 13%|█▎        | 180/1350 [19:59<2:26:18,  7.50s/it]
 13%|█▎        | 181/1350 [19:59<1:43:52,  5.33s/it]
 13%|█▎        | 182/1350 [20:00<1:14:11,  3.81s/it]
 14%|█▎        | 183/1350 [20:00<53:25,  2.75s/it]  
 14%|█▎        | 184/1350 [20:00<38:55,  2.00s/it]
 14%|█▎        | 185/1350 [22:03<12:19:36, 38.09s/it]
 14%|█▍        | 186/1350 [22:03<8:38:50, 26.74s/it] 
 14%|█▍        | 187/1350 [22:03<6:04:25, 18.80s/it]
 14%|█▍        | 188/1350 [22:03<4:16:24, 13.24s/it]
 14%|█▍        | 189/1350 [22:04<3:00:52,  9.35s/it]
 14%|█▍        | 190/1350 [22:04<2:08:02,  6.62s/it]
 14%|█▍        | 191/1350 [22:04<1:31:05,  4.72s/it]
 14%|█▍        | 192/1350 [22:04<1:05:16,  3.38s/it]
 14%|█▍        | 193/1350 [22:34<3:36:58, 11.25s/it]
 14%|█▍        | 194/1350 [22:34<2:33:09,  7.95s/it]
 14%|█▍        | 195/1350 [22:34<1:48:31,  5.64s/it]
 15%|█▍        | 196/1350 [22:35<1:17:22,  4.02s/it]
 15%|█▍        | 197/1350 [22:35<55:29,  2.89s/it]  
 15%|█▍        | 198/1350 [22:35<40:12,  2.09s/it]
 15%|█▍        | 199/1350 [22:35<29:30,  1.54s/it]
 15%|█▍        | 200/1350 [22:36<22:01,  1.15s/it]
 15%|█▍        | 201/1350 [24:11<9:22:15, 29.36s/it]
 15%|█▍        | 202/1350 [24:11<6:34:39, 20.63s/it]
 15%|█▌        | 203/1350 [24:11<4:37:24, 14.51s/it]
 15%|█▌        | 204/1350 [24:12<3:15:25, 10.23s/it]
 15%|█▌        | 205/1350 [24:12<2:18:02,  7.23s/it]
 15%|█▌        | 206/1350 [24:12<1:37:55,  5.14s/it]
 15%|█▌        | 207/1350 [24:12<1:09:52,  3.67s/it]
 15%|█▌        | 208/1350 [24:13<50:14,  2.64s/it]  
 15%|█▌        | 209/1350 [24:48<3:56:33, 12.44s/it]
 16%|█▌        | 210/1350 [24:48<2:46:50,  8.78s/it]
 16%|█▌        | 211/1350 [24:48<1:58:03,  6.22s/it]
 16%|█▌        | 212/1350 [24:49<1:23:56,  4.43s/it]
 16%|█▌        | 213/1350 [24:49<1:00:05,  3.17s/it]
 16%|█▌        | 214/1350 [24:49<43:24,  2.29s/it]  
 16%|█▌        | 215/1350 [24:49<31:43,  1.68s/it]
 16%|█▌        | 216/1350 [24:50<23:34,  1.25s/it]
 16%|█▌        | 217/1350 [25:38<4:52:21, 15.48s/it]
 16%|█▌        | 218/1350 [25:39<3:25:51, 10.91s/it]
 16%|█▌        | 219/1350 [25:39<2:25:20,  7.71s/it]
 16%|█▋        | 220/1350 [25:39<1:42:59,  5.47s/it]
 16%|█▋        | 221/1350 [25:39<1:13:24,  3.90s/it]
 16%|█▋        | 222/1350 [25:40<52:42,  2.80s/it]  
 17%|█▋        | 223/1350 [25:40<38:13,  2.04s/it]
 17%|█▋        | 224/1350 [25:40<28:05,  1.50s/it]
 17%|█▋        | 225/1350 [26:25<4:32:19, 14.52s/it]
 17%|█▋        | 226/1350 [26:25<3:11:49, 10.24s/it]
 17%|█▋        | 227/1350 [26:25<2:15:30,  7.24s/it]
 17%|█▋        | 228/1350 [26:26<1:36:09,  5.14s/it]
 17%|█▋        | 229/1350 [26:26<1:08:34,  3.67s/it]
 17%|█▋        | 230/1350 [26:26<49:20,  2.64s/it]  
 17%|█▋        | 231/1350 [26:26<35:51,  1.92s/it]
 17%|█▋        | 232/1350 [26:27<26:25,  1.42s/it]
 17%|█▋        | 233/1350 [26:53<2:43:53,  8.80s/it]
 17%|█▋        | 234/1350 [26:53<1:55:57,  6.23s/it]
 17%|█▋        | 235/1350 [26:53<1:22:26,  4.44s/it]
 17%|█▋        | 236/1350 [26:53<59:00,  3.18s/it]  
 18%|█▊        | 237/1350 [26:54<42:36,  2.30s/it]
 18%|█▊        | 238/1350 [26:54<31:09,  1.68s/it]
 18%|█▊        | 239/1350 [26:54<23:08,  1.25s/it]
 18%|█▊        | 240/1350 [26:54<17:32,  1.05it/s]
 18%|█▊        | 241/1350 [27:17<2:20:29,  7.60s/it]
 18%|█▊        | 242/1350 [27:18<1:39:38,  5.40s/it]
 18%|█▊        | 243/1350 [27:18<1:11:04,  3.85s/it]
 18%|█▊        | 244/1350 [27:18<51:06,  2.77s/it]  
 18%|█▊        | 245/1350 [27:18<37:07,  2.02s/it]
 18%|█▊        | 246/1350 [27:19<27:20,  1.49s/it]
 18%|█▊        | 247/1350 [27:19<20:29,  1.11s/it]
 18%|█▊        | 248/1350 [27:19<15:43,  1.17it/s]
 18%|█▊        | 249/1350 [27:40<2:07:45,  6.96s/it]
 19%|█▊        | 250/1350 [27:41<1:30:43,  4.95s/it]
 19%|█▊        | 251/1350 [27:41<1:04:49,  3.54s/it]
 19%|█▊        | 252/1350 [27:41<46:42,  2.55s/it]  
 19%|█▊        | 253/1350 [27:41<34:01,  1.86s/it]
 19%|█▉        | 254/1350 [27:42<25:10,  1.38s/it]
 19%|█▉        | 255/1350 [27:42<19:00,  1.04s/it]
 19%|█▉        | 256/1350 [27:42<14:39,  1.24it/s]
 19%|█▉        | 257/1350 [28:09<2:37:25,  8.64s/it]
 19%|█▉        | 258/1350 [28:09<1:51:34,  6.13s/it]
 19%|█▉        | 259/1350 [28:10<1:19:23,  4.37s/it]
 19%|█▉        | 260/1350 [28:10<56:50,  3.13s/it]  
 19%|█▉        | 261/1350 [28:10<41:04,  2.26s/it]
 19%|█▉        | 262/1350 [28:10<30:01,  1.66s/it]
 19%|█▉        | 263/1350 [28:11<22:18,  1.23s/it]
 20%|█▉        | 264/1350 [28:11<16:54,  1.07it/s]
 20%|█▉        | 265/1350 [29:30<7:22:59, 24.50s/it]
 20%|█▉        | 266/1350 [29:31<5:11:07, 17.22s/it]
 20%|█▉        | 267/1350 [29:31<3:38:55, 12.13s/it]
 20%|█▉        | 268/1350 [29:31<2:34:29,  8.57s/it]
 20%|█▉        | 269/1350 [29:31<1:49:22,  6.07s/it]
 20%|██        | 270/1350 [29:32<1:17:50,  4.32s/it]
 20%|██        | 271/1350 [29:32<55:46,  3.10s/it]  
 20%|██        | 272/1350 [29:32<40:19,  2.24s/it]
 20%|██        | 273/1350 [29:56<2:36:53,  8.74s/it]
 20%|██        | 274/1350 [29:56<1:51:00,  6.19s/it]
 20%|██        | 275/1350 [29:56<1:18:56,  4.41s/it]
 20%|██        | 276/1350 [29:57<56:30,  3.16s/it]  
 21%|██        | 277/1350 [29:57<40:49,  2.28s/it]
 21%|██        | 278/1350 [29:57<29:50,  1.67s/it]
 21%|██        | 279/1350 [29:57<22:11,  1.24s/it]
 21%|██        | 280/1350 [29:58<16:49,  1.06it/s]
 21%|██        | 281/1350 [30:56<5:25:09, 18.25s/it]
 21%|██        | 282/1350 [30:57<3:48:54, 12.86s/it]
 21%|██        | 283/1350 [30:57<2:41:34,  9.09s/it]
 21%|██        | 284/1350 [30:57<1:54:27,  6.44s/it]
 21%|██        | 285/1350 [30:57<1:21:28,  4.59s/it]
 21%|██        | 286/1350 [30:58<58:25,  3.29s/it]  
 21%|██▏       | 287/1350 [30:58<42:18,  2.39s/it]
 21%|██▏       | 288/1350 [30:58<31:00,  1.75s/it]
 21%|██▏       | 289/1350 [31:56<5:27:46, 18.54s/it]
 21%|██▏       | 290/1350 [31:56<3:50:42, 13.06s/it]
 22%|██▏       | 291/1350 [31:56<2:42:49,  9.23s/it]
 22%|██▏       | 292/1350 [31:57<1:55:18,  6.54s/it]
 22%|██▏       | 293/1350 [31:57<1:22:03,  4.66s/it]
 22%|██▏       | 294/1350 [31:57<58:48,  3.34s/it]  
 22%|██▏       | 295/1350 [31:58<42:32,  2.42s/it]
 22%|██▏       | 296/1350 [31:58<31:08,  1.77s/it]
 22%|██▏       | 297/1350 [36:13<22:44:39, 77.76s/it]
 22%|██▏       | 298/1350 [36:13<15:55:41, 54.51s/it]
 22%|██▏       | 299/1350 [36:13<11:09:36, 38.23s/it]
 22%|██▏       | 300/1350 [36:14<7:49:32, 26.83s/it] 
 22%|██▏       | 301/1350 [36:14<5:29:36, 18.85s/it]
 22%|██▏       | 302/1350 [36:14<3:51:46, 13.27s/it]
 22%|██▏       | 303/1350 [36:14<2:43:20,  9.36s/it]
 23%|██▎       | 304/1350 [36:15<1:55:31,  6.63s/it]
 23%|██▎       | 305/1350 [37:11<6:18:08, 21.71s/it]
 23%|██▎       | 306/1350 [37:12<4:25:42, 15.27s/it]
 23%|██▎       | 307/1350 [37:12<3:07:03, 10.76s/it]
 23%|██▎       | 308/1350 [37:12<2:12:04,  7.61s/it]
 23%|██▎       | 309/1350 [37:12<1:33:37,  5.40s/it]
 23%|██▎       | 310/1350 [37:13<1:06:43,  3.85s/it]
 23%|██▎       | 311/1350 [37:13<47:53,  2.77s/it]  
 23%|██▎       | 312/1350 [37:13<34:46,  2.01s/it]
 23%|██▎       | 313/1350 [37:47<3:17:49, 11.45s/it]
 23%|██▎       | 314/1350 [37:47<2:19:35,  8.08s/it]
 23%|██▎       | 315/1350 [37:47<1:38:51,  5.73s/it]
 23%|██▎       | 316/1350 [37:47<1:10:22,  4.08s/it]
 23%|██▎       | 317/1350 [37:48<50:26,  2.93s/it]  
 24%|██▎       | 318/1350 [37:48<36:31,  2.12s/it]
 24%|██▎       | 319/1350 [37:48<26:48,  1.56s/it]
 24%|██▎       | 320/1350 [37:48<20:00,  1.17s/it]
 24%|██▍       | 321/1350 [38:17<2:43:42,  9.55s/it]
 24%|██▍       | 322/1350 [38:18<1:55:49,  6.76s/it]
 24%|██▍       | 323/1350 [38:18<1:22:22,  4.81s/it]
 24%|██▍       | 324/1350 [38:18<59:01,  3.45s/it]  
 24%|██▍       | 325/1350 [38:19<42:42,  2.50s/it]
 24%|██▍       | 326/1350 [38:19<31:13,  1.83s/it]
 24%|██▍       | 327/1350 [38:19<23:11,  1.36s/it]
 24%|██▍       | 328/1350 [38:19<17:35,  1.03s/it]
 24%|██▍       | 329/1350 [43:10<24:54:43, 87.84s/it]
 24%|██▍       | 330/1350 [43:10<17:26:37, 61.57s/it]
 25%|██▍       | 331/1350 [43:10<12:13:16, 43.18s/it]
 25%|██▍       | 332/1350 [43:10<8:34:08, 30.30s/it] 
 25%|██▍       | 333/1350 [43:11<6:00:50, 21.29s/it]
 25%|██▍       | 334/1350 [43:11<4:13:34, 14.98s/it]
 25%|██▍       | 335/1350 [43:11<2:58:34, 10.56s/it]
 25%|██▍       | 336/1350 [43:11<2:06:07,  7.46s/it]
 25%|██▍       | 337/1350 [44:48<9:34:59, 34.06s/it]
 25%|██▌       | 338/1350 [44:48<6:43:19, 23.91s/it]
 25%|██▌       | 339/1350 [44:48<4:43:17, 16.81s/it]
 25%|██▌       | 340/1350 [44:48<3:19:19, 11.84s/it]
 25%|██▌       | 341/1350 [44:49<2:20:36,  8.36s/it]
 25%|██▌       | 342/1350 [44:49<1:39:33,  5.93s/it]
 25%|██▌       | 343/1350 [44:49<1:10:49,  4.22s/it]
 25%|██▌       | 344/1350 [44:49<50:45,  3.03s/it]  
 26%|██▌       | 345/1350 [45:51<5:47:15, 20.73s/it]
 26%|██▌       | 346/1350 [45:52<4:04:03, 14.58s/it]
 26%|██▌       | 347/1350 [45:52<2:51:54, 10.28s/it]
 26%|██▌       | 348/1350 [45:52<2:01:25,  7.27s/it]
 26%|██▌       | 349/1350 [45:52<1:26:09,  5.16s/it]
 26%|██▌       | 350/1350 [45:53<1:01:27,  3.69s/it]
 26%|██▌       | 351/1350 [45:53<44:10,  2.65s/it]  
 26%|██▌       | 352/1350 [45:53<32:06,  1.93s/it]
 26%|██▌       | 353/1350 [47:58<10:43:55, 38.75s/it]
 26%|██▌       | 354/1350 [47:58<7:31:32, 27.20s/it] 
 26%|██▋       | 355/1350 [47:58<5:16:57, 19.11s/it]
 26%|██▋       | 356/1350 [47:58<3:42:53, 13.45s/it]
 26%|██▋       | 357/1350 [47:59<2:37:06,  9.49s/it]
 27%|██▋       | 358/1350 [47:59<1:51:06,  6.72s/it]
 27%|██▋       | 359/1350 [47:59<1:18:54,  4.78s/it]
 27%|██▋       | 360/1350 [47:59<56:21,  3.42s/it]  
 27%|██▋       | 361/1350 [48:59<5:32:13, 20.15s/it]
 27%|██▋       | 362/1350 [48:59<3:53:38, 14.19s/it]
 27%|██▋       | 363/1350 [48:59<2:44:41, 10.01s/it]
 27%|██▋       | 364/1350 [48:59<1:56:29,  7.09s/it]
 27%|██▋       | 365/1350 [49:00<1:22:45,  5.04s/it]
 27%|██▋       | 366/1350 [49:00<59:10,  3.61s/it]  
 27%|██▋       | 367/1350 [49:00<42:40,  2.60s/it]
 27%|██▋       | 368/1350 [49:00<31:08,  1.90s/it]
 27%|██▋       | 369/1350 [50:13<6:16:47, 23.05s/it]
 27%|██▋       | 370/1350 [50:13<4:24:50, 16.22s/it]
 27%|██▋       | 371/1350 [50:13<3:06:32, 11.43s/it]
 28%|██▊       | 372/1350 [50:14<2:11:45,  8.08s/it]
 28%|██▊       | 373/1350 [50:14<1:33:26,  5.74s/it]
 28%|██▊       | 374/1350 [50:14<1:06:38,  4.10s/it]
 28%|██▊       | 375/1350 [50:15<47:57,  2.95s/it]  
 28%|██▊       | 376/1350 [50:15<34:53,  2.15s/it]
 28%|██▊       | 377/1350 [51:03<4:16:35, 15.82s/it]
 28%|██▊       | 378/1350 [51:03<3:00:46, 11.16s/it]
 28%|██▊       | 379/1350 [51:03<2:07:46,  7.90s/it]
 28%|██▊       | 380/1350 [51:03<1:30:42,  5.61s/it]
 28%|██▊       | 381/1350 [51:04<1:04:43,  4.01s/it]
 28%|██▊       | 382/1350 [51:04<46:33,  2.89s/it]  
 28%|██▊       | 383/1350 [51:04<33:51,  2.10s/it]
 28%|██▊       | 384/1350 [51:04<24:56,  1.55s/it]
 29%|██▊       | 385/1350 [51:58<4:37:29, 17.25s/it]
 29%|██▊       | 386/1350 [51:59<3:15:19, 12.16s/it]
 29%|██▊       | 387/1350 [51:59<2:17:52,  8.59s/it]
 29%|██▊       | 388/1350 [51:59<1:37:40,  6.09s/it]
 29%|██▉       | 389/1350 [51:59<1:09:34,  4.34s/it]
 29%|██▉       | 390/1350 [52:00<49:55,  3.12s/it]  
 29%|██▉       | 391/1350 [52:00<36:11,  2.26s/it]
 29%|██▉       | 392/1350 [52:00<26:34,  1.66s/it]
 29%|██▉       | 393/1350 [53:00<5:04:34, 19.10s/it]
 29%|██▉       | 394/1350 [53:00<3:34:17, 13.45s/it]
 29%|██▉       | 395/1350 [53:00<2:31:07,  9.49s/it]
 29%|██▉       | 396/1350 [53:01<1:46:57,  6.73s/it]
 29%|██▉       | 397/1350 [53:01<1:16:05,  4.79s/it]
 29%|██▉       | 398/1350 [53:01<54:26,  3.43s/it]  
 30%|██▉       | 399/1350 [53:02<39:19,  2.48s/it]
 30%|██▉       | 400/1350 [53:02<28:48,  1.82s/it]
 30%|██▉       | 401/1350 [54:26<6:59:56, 26.55s/it]
 30%|██▉       | 402/1350 [54:26<4:54:55, 18.67s/it]
 30%|██▉       | 403/1350 [54:27<3:27:28, 13.15s/it]
 30%|██▉       | 404/1350 [54:27<2:26:20,  9.28s/it]
 30%|███       | 405/1350 [54:27<1:43:35,  6.58s/it]
 30%|███       | 406/1350 [54:27<1:13:41,  4.68s/it]
 30%|███       | 407/1350 [54:28<52:46,  3.36s/it]  
 30%|███       | 408/1350 [54:28<38:10,  2.43s/it]
 30%|███       | 408/1350 [55:56<2:09:09,  8.23s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json.
+BlockStackingSpecifiedOrderTask_0 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_0, run: 0, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 409, duration: 27.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.25181733283663, 'joint_sparc_mean': -9.665088805048518, 'ee_isj': 2045.7143081073132, 'joint_isj': 20925.96892673068, 'ee_path_length': 3.360509189995086, 'joint_rmse_mean': 0.9172881183215099, 'ee_speed_max': 0.5849652886390686, 'ee_speed_mean': 0.11560321599245071}, events: {'GRIPPER_HIT_OBJECT': 3, 'WRONG_OBJECT_GRABBED': 7, 'OBJECT_BUMPED': 3, 'GRIPPER_FULLY_CLOSED': 3, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'green_block', 'yellow_block', 'yellow_block', 'yellow_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 3263.572, 'policy_inference_avg_ms': 7979.4, 'env_step_s': 89.593, 'env_step_avg_ms': 219.1, 'video_write_s': 3.191, 'video_write_avg_ms': 7.8, 'wall_total_s': 3356.356, 'it_per_sec': 0.12}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 8f7be56ea07c462689e7e4e55119609a-0
+[RoboLab] Running BlockStackingSpecifiedOrderTask_1: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 1, 1 envs)
+
  0%|          | 0/1350 [00:00<?, ?it/s]
  0%|          | 1/1350 [02:52<64:48:02, 172.93s/it]
  0%|          | 2/1350 [02:53<26:43:06, 71.36s/it] 
  0%|          | 3/1350 [02:53<14:32:52, 38.88s/it]
  0%|          | 4/1350 [02:53<8:49:57, 23.62s/it] 
  0%|          | 5/1350 [02:53<5:40:30, 15.19s/it]
  0%|          | 6/1350 [02:54<3:46:22, 10.11s/it]
  1%|          | 7/1350 [02:54<2:34:00,  6.88s/it]
  1%|          | 8/1350 [02:54<1:46:35,  4.77s/it]
  1%|          | 9/1350 [03:21<4:22:17, 11.74s/it]
  1%|          | 10/1350 [03:21<3:02:48,  8.19s/it]
  1%|          | 11/1350 [03:22<2:08:22,  5.75s/it]
  1%|          | 12/1350 [03:22<1:30:53,  4.08s/it]
  1%|          | 13/1350 [03:22<1:04:53,  2.91s/it]
  1%|          | 14/1350 [03:22<46:51,  2.10s/it]  
  1%|          | 15/1350 [03:23<34:16,  1.54s/it]
  1%|          | 16/1350 [03:23<25:31,  1.15s/it]
  1%|▏         | 17/1350 [03:57<4:02:55, 10.93s/it]
  1%|▏         | 18/1350 [03:57<2:51:24,  7.72s/it]
  1%|▏         | 19/1350 [03:57<2:01:24,  5.47s/it]
  1%|▏         | 20/1350 [03:57<1:26:28,  3.90s/it]
  2%|▏         | 21/1350 [03:57<1:02:03,  2.80s/it]
  2%|▏         | 22/1350 [03:58<44:58,  2.03s/it]  
  2%|▏         | 23/1350 [03:58<33:02,  1.49s/it]
  2%|▏         | 24/1350 [03:58<24:41,  1.12s/it]
  2%|▏         | 25/1350 [04:10<1:36:34,  4.37s/it]
  2%|▏         | 26/1350 [04:10<1:09:06,  3.13s/it]
  2%|▏         | 27/1350 [04:11<49:54,  2.26s/it]  
  2%|▏         | 28/1350 [04:11<36:29,  1.66s/it]
  2%|▏         | 29/1350 [04:11<27:06,  1.23s/it]
  2%|▏         | 30/1350 [04:11<20:33,  1.07it/s]
  2%|▏         | 31/1350 [04:12<15:58,  1.38it/s]
  2%|▏         | 32/1350 [04:12<12:44,  1.72it/s]
  2%|▏         | 33/1350 [04:26<1:40:24,  4.57s/it]
  3%|▎         | 34/1350 [04:26<1:11:47,  3.27s/it]
  3%|▎         | 35/1350 [04:26<51:47,  2.36s/it]  
  3%|▎         | 36/1350 [04:26<37:46,  1.73s/it]
  3%|▎         | 37/1350 [04:27<27:59,  1.28s/it]
  3%|▎         | 38/1350 [04:27<21:07,  1.03it/s]
  3%|▎         | 39/1350 [04:27<16:20,  1.34it/s]
  3%|▎         | 40/1350 [04:27<12:59,  1.68it/s]
  3%|▎         | 41/1350 [04:45<2:03:55,  5.68s/it]
  3%|▎         | 42/1350 [04:45<1:28:15,  4.05s/it]
  3%|▎         | 43/1350 [04:45<1:03:16,  2.90s/it]
  3%|▎         | 44/1350 [04:46<45:48,  2.10s/it]  
  3%|▎         | 45/1350 [04:46<33:36,  1.54s/it]
  3%|▎         | 46/1350 [04:46<25:03,  1.15s/it]
  3%|▎         | 47/1350 [04:46<19:04,  1.14it/s]
  4%|▎         | 48/1350 [04:47<14:55,  1.45it/s]
  4%|▎         | 49/1350 [05:10<2:43:24,  7.54s/it]
  4%|▎         | 50/1350 [05:10<1:55:49,  5.35s/it]
  4%|▍         | 51/1350 [05:11<1:22:32,  3.81s/it]
  4%|▍         | 52/1350 [05:11<59:14,  2.74s/it]  
  4%|▍         | 53/1350 [05:11<42:57,  1.99s/it]
  4%|▍         | 54/1350 [05:11<31:33,  1.46s/it]
  4%|▍         | 55/1350 [05:12<23:35,  1.09s/it]
  4%|▍         | 56/1350 [05:12<18:01,  1.20it/s]
  4%|▍         | 57/1350 [05:33<2:28:15,  6.88s/it]
  4%|▍         | 58/1350 [05:33<1:45:13,  4.89s/it]
  4%|▍         | 59/1350 [05:33<1:15:08,  3.49s/it]
  4%|▍         | 60/1350 [05:33<54:05,  2.52s/it]  
  5%|▍         | 61/1350 [05:34<39:22,  1.83s/it]
  5%|▍         | 62/1350 [05:34<29:05,  1.36s/it]
  5%|▍         | 63/1350 [05:34<21:53,  1.02s/it]
  5%|▍         | 64/1350 [05:34<16:53,  1.27it/s]
  5%|▍         | 65/1350 [05:49<1:46:02,  4.95s/it]
  5%|▍         | 66/1350 [05:49<1:15:45,  3.54s/it]
  5%|▍         | 67/1350 [05:50<54:35,  2.55s/it]  
  5%|▌         | 68/1350 [05:50<39:46,  1.86s/it]
  5%|▌         | 69/1350 [05:50<29:24,  1.38s/it]
  5%|▌         | 70/1350 [05:50<22:08,  1.04s/it]
  5%|▌         | 71/1350 [05:51<17:04,  1.25it/s]
  5%|▌         | 72/1350 [05:51<13:34,  1.57it/s]
  5%|▌         | 73/1350 [06:37<5:05:00, 14.33s/it]
  5%|▌         | 74/1350 [06:37<3:34:59, 10.11s/it]
  6%|▌         | 75/1350 [06:38<2:32:02,  7.15s/it]
  6%|▌         | 76/1350 [06:38<1:47:59,  5.09s/it]
  6%|▌         | 77/1350 [06:38<1:17:10,  3.64s/it]
  6%|▌         | 78/1350 [06:38<55:37,  2.62s/it]  
  6%|▌         | 79/1350 [06:39<40:34,  1.92s/it]
  6%|▌         | 80/1350 [06:39<30:01,  1.42s/it]
  6%|▌         | 81/1350 [07:27<5:25:47, 15.40s/it]
  6%|▌         | 82/1350 [07:27<3:49:31, 10.86s/it]
  6%|▌         | 83/1350 [07:27<2:42:09,  7.68s/it]
  6%|▌         | 84/1350 [07:28<1:55:03,  5.45s/it]
  6%|▋         | 85/1350 [07:28<1:22:05,  3.89s/it]
  6%|▋         | 86/1350 [07:28<59:02,  2.80s/it]  
  6%|▋         | 87/1350 [07:29<42:55,  2.04s/it]
  7%|▋         | 88/1350 [07:29<31:39,  1.50s/it]
  7%|▋         | 89/1350 [08:31<6:56:43, 19.83s/it]
  7%|▋         | 90/1350 [08:32<4:53:23, 13.97s/it]
  7%|▋         | 91/1350 [08:32<3:26:49,  9.86s/it]
  7%|▋         | 92/1350 [08:32<2:26:19,  6.98s/it]
  7%|▋         | 93/1350 [08:32<1:43:58,  4.96s/it]
  7%|▋         | 94/1350 [08:33<1:14:22,  3.55s/it]
  7%|▋         | 95/1350 [08:33<53:39,  2.57s/it]  
  7%|▋         | 96/1350 [08:33<39:08,  1.87s/it]
  7%|▋         | 97/1350 [10:30<12:39:29, 36.37s/it]
  7%|▋         | 98/1350 [10:30<8:52:52, 25.54s/it] 
  7%|▋         | 99/1350 [10:31<6:14:21, 17.95s/it]
  7%|▋         | 100/1350 [10:31<4:23:27, 12.65s/it]
  7%|▋         | 101/1350 [10:31<3:05:52,  8.93s/it]
  8%|▊         | 102/1350 [10:31<2:11:37,  6.33s/it]
  8%|▊         | 103/1350 [10:32<1:33:39,  4.51s/it]
  8%|▊         | 104/1350 [10:32<1:07:06,  3.23s/it]
  8%|▊         | 105/1350 [11:44<8:14:01, 23.81s/it]
  8%|▊         | 106/1350 [11:44<5:47:10, 16.74s/it]
  8%|▊         | 107/1350 [11:44<4:04:26, 11.80s/it]
  8%|▊         | 108/1350 [11:45<2:52:46,  8.35s/it]
  8%|▊         | 109/1350 [11:45<2:02:28,  5.92s/it]
  8%|▊         | 110/1350 [11:45<1:27:17,  4.22s/it]
  8%|▊         | 111/1350 [11:45<1:02:52,  3.04s/it]
  8%|▊         | 112/1350 [11:46<45:41,  2.21s/it]  
  8%|▊         | 113/1350 [12:05<2:29:53,  7.27s/it]
  8%|▊         | 114/1350 [12:05<1:46:19,  5.16s/it]
  9%|▊         | 115/1350 [12:05<1:15:50,  3.68s/it]
  9%|▊         | 116/1350 [12:05<54:31,  2.65s/it]  
  9%|▊         | 117/1350 [12:06<39:37,  1.93s/it]
  9%|▊         | 118/1350 [12:06<29:11,  1.42s/it]
  9%|▉         | 119/1350 [12:06<21:53,  1.07s/it]
  9%|▉         | 120/1350 [12:06<16:47,  1.22it/s]
  9%|▉         | 121/1350 [12:54<5:04:49, 14.88s/it]
  9%|▉         | 122/1350 [12:54<3:34:40, 10.49s/it]
  9%|▉         | 123/1350 [12:55<2:31:37,  7.41s/it]
  9%|▉         | 124/1350 [12:55<1:47:30,  5.26s/it]
  9%|▉         | 125/1350 [12:55<1:16:38,  3.75s/it]
  9%|▉         | 126/1350 [12:55<55:05,  2.70s/it]  
  9%|▉         | 127/1350 [12:55<40:02,  1.96s/it]
  9%|▉         | 128/1350 [12:56<29:29,  1.45s/it]
 10%|▉         | 129/1350 [13:44<5:14:21, 15.45s/it]
 10%|▉         | 130/1350 [13:44<3:41:20, 10.89s/it]
 10%|▉         | 131/1350 [13:44<2:36:15,  7.69s/it]
 10%|▉         | 132/1350 [13:45<1:50:45,  5.46s/it]
 10%|▉         | 133/1350 [13:45<1:18:54,  3.89s/it]
 10%|▉         | 134/1350 [13:45<56:38,  2.79s/it]  
 10%|█         | 135/1350 [13:45<41:03,  2.03s/it]
 10%|█         | 136/1350 [13:46<30:10,  1.49s/it]
 10%|█         | 137/1350 [15:25<10:25:18, 30.93s/it]
 10%|█         | 138/1350 [15:25<7:18:48, 21.72s/it] 
 10%|█         | 139/1350 [15:26<5:08:21, 15.28s/it]
 10%|█         | 140/1350 [15:26<3:37:07, 10.77s/it]
 10%|█         | 141/1350 [15:26<2:33:19,  7.61s/it]
 11%|█         | 142/1350 [15:26<1:48:39,  5.40s/it]
 11%|█         | 143/1350 [15:27<1:17:26,  3.85s/it]
 11%|█         | 144/1350 [15:27<55:35,  2.77s/it]  
 11%|█         | 145/1350 [18:18<17:48:43, 53.21s/it]
 11%|█         | 146/1350 [18:18<12:28:58, 37.32s/it]
 11%|█         | 147/1350 [18:18<8:45:17, 26.20s/it] 
 11%|█         | 148/1350 [18:18<6:08:49, 18.41s/it]
 11%|█         | 149/1350 [18:19<4:19:30, 12.96s/it]
 11%|█         | 150/1350 [18:19<3:03:00,  9.15s/it]
 11%|█         | 151/1350 [18:19<2:09:27,  6.48s/it]
 11%|█▏        | 152/1350 [18:19<1:31:59,  4.61s/it]
 11%|█▏        | 153/1350 [19:54<10:28:06, 31.48s/it]
 11%|█▏        | 154/1350 [19:54<7:20:49, 22.12s/it] 
 11%|█▏        | 155/1350 [19:54<5:09:50, 15.56s/it]
 12%|█▏        | 156/1350 [19:54<3:38:12, 10.97s/it]
 12%|█▏        | 157/1350 [19:55<2:34:07,  7.75s/it]
 12%|█▏        | 158/1350 [19:55<1:49:17,  5.50s/it]
 12%|█▏        | 159/1350 [19:55<1:18:01,  3.93s/it]
 12%|█▏        | 160/1350 [19:55<56:05,  2.83s/it]  
 12%|█▏        | 161/1350 [21:37<10:41:17, 32.36s/it]
 12%|█▏        | 162/1350 [21:37<7:30:06, 22.73s/it] 
 12%|█▏        | 163/1350 [21:37<5:16:21, 15.99s/it]
 12%|█▏        | 164/1350 [21:38<3:42:49, 11.27s/it]
 12%|█▏        | 165/1350 [21:38<2:37:23,  7.97s/it]
 12%|█▏        | 166/1350 [21:38<1:51:41,  5.66s/it]
 12%|█▏        | 167/1350 [21:38<1:19:43,  4.04s/it]
 12%|█▏        | 168/1350 [21:39<57:19,  2.91s/it]  
 13%|█▎        | 169/1350 [23:25<11:06:57, 33.88s/it]
 13%|█▎        | 170/1350 [23:25<7:48:05, 23.80s/it] 
 13%|█▎        | 171/1350 [23:25<5:28:58, 16.74s/it]
 13%|█▎        | 172/1350 [23:26<3:51:46, 11.80s/it]
 13%|█▎        | 173/1350 [23:26<2:43:40,  8.34s/it]
 13%|█▎        | 174/1350 [23:26<1:56:01,  5.92s/it]
 13%|█▎        | 175/1350 [23:26<1:22:41,  4.22s/it]
 13%|█▎        | 176/1350 [23:27<59:22,  3.03s/it]  
 13%|█▎        | 177/1350 [24:35<7:22:02, 22.61s/it]
 13%|█▎        | 178/1350 [24:35<5:10:43, 15.91s/it]
 13%|█▎        | 179/1350 [24:35<3:38:51, 11.21s/it]
 13%|█▎        | 180/1350 [24:36<2:34:35,  7.93s/it]
 13%|█▎        | 181/1350 [24:36<1:49:39,  5.63s/it]
 13%|█▎        | 182/1350 [24:36<1:18:15,  4.02s/it]
 14%|█▎        | 183/1350 [24:36<56:15,  2.89s/it]  
 14%|█▎        | 184/1350 [24:37<40:53,  2.10s/it]
 14%|█▎        | 185/1350 [25:26<5:16:10, 16.28s/it]
 14%|█▍        | 186/1350 [25:26<3:42:39, 11.48s/it]
 14%|█▍        | 187/1350 [25:27<2:37:14,  8.11s/it]
 14%|█▍        | 188/1350 [25:27<1:51:28,  5.76s/it]
 14%|█▍        | 189/1350 [25:27<1:19:28,  4.11s/it]
 14%|█▍        | 190/1350 [25:27<57:05,  2.95s/it]  
 14%|█▍        | 191/1350 [25:28<41:27,  2.15s/it]
 14%|█▍        | 192/1350 [25:28<30:31,  1.58s/it]
 14%|█▍        | 193/1350 [28:00<14:59:17, 46.64s/it]
 14%|█▍        | 194/1350 [28:00<10:30:30, 32.73s/it]
 14%|█▍        | 195/1350 [28:00<7:22:31, 22.99s/it] 
 15%|█▍        | 196/1350 [28:01<5:11:00, 16.17s/it]
 15%|█▍        | 197/1350 [28:01<3:39:01, 11.40s/it]
 15%|█▍        | 198/1350 [28:01<2:34:44,  8.06s/it]
 15%|█▍        | 199/1350 [28:01<1:49:44,  5.72s/it]
 15%|█▍        | 200/1350 [28:02<1:18:19,  4.09s/it]
 15%|█▍        | 201/1350 [28:21<2:47:27,  8.74s/it]
 15%|█▍        | 202/1350 [28:21<1:58:29,  6.19s/it]
 15%|█▌        | 203/1350 [28:22<1:24:14,  4.41s/it]
 15%|█▌        | 204/1350 [28:22<1:00:17,  3.16s/it]
 15%|█▌        | 205/1350 [28:22<43:31,  2.28s/it]  
 15%|█▌        | 206/1350 [28:22<31:49,  1.67s/it]
 15%|█▌        | 207/1350 [28:23<23:37,  1.24s/it]
 15%|█▌        | 208/1350 [28:23<17:53,  1.06it/s]
 15%|█▌        | 209/1350 [28:53<3:02:35,  9.60s/it]
 16%|█▌        | 210/1350 [28:53<2:09:05,  6.79s/it]
 16%|█▌        | 211/1350 [28:53<1:31:39,  4.83s/it]
 16%|█▌        | 212/1350 [28:53<1:05:26,  3.45s/it]
 16%|█▌        | 213/1350 [28:54<47:08,  2.49s/it]  
 16%|█▌        | 214/1350 [28:54<34:21,  1.82s/it]
 16%|█▌        | 215/1350 [28:54<25:23,  1.34s/it]
 16%|█▌        | 216/1350 [28:54<19:06,  1.01s/it]
 16%|█▌        | 217/1350 [29:26<3:12:41, 10.20s/it]
 16%|█▌        | 218/1350 [29:26<2:16:12,  7.22s/it]
 16%|█▌        | 219/1350 [29:27<1:36:46,  5.13s/it]
 16%|█▋        | 220/1350 [29:27<1:09:03,  3.67s/it]
 16%|█▋        | 221/1350 [29:27<49:39,  2.64s/it]  
 16%|█▋        | 222/1350 [29:27<36:04,  1.92s/it]
 17%|█▋        | 223/1350 [29:28<26:35,  1.42s/it]
 17%|█▋        | 224/1350 [29:28<19:56,  1.06s/it]
 17%|█▋        | 225/1350 [30:09<4:06:37, 13.15s/it]
 17%|█▋        | 226/1350 [30:09<2:53:49,  9.28s/it]
 17%|█▋        | 227/1350 [30:10<2:02:54,  6.57s/it]
 17%|█▋        | 228/1350 [30:10<1:27:19,  4.67s/it]
 17%|█▋        | 229/1350 [30:10<1:02:23,  3.34s/it]
 17%|█▋        | 230/1350 [30:10<44:58,  2.41s/it]  
 17%|█▋        | 231/1350 [30:11<32:46,  1.76s/it]
 17%|█▋        | 232/1350 [30:11<24:15,  1.30s/it]
 17%|█▋        | 233/1350 [31:32<7:52:17, 25.37s/it]
 17%|█▋        | 234/1350 [31:33<5:31:40, 17.83s/it]
 17%|█▋        | 235/1350 [31:33<3:53:17, 12.55s/it]
 17%|█▋        | 236/1350 [31:33<2:44:29,  8.86s/it]
 18%|█▊        | 237/1350 [31:33<1:56:22,  6.27s/it]
 18%|█▊        | 238/1350 [31:34<1:22:43,  4.46s/it]
 18%|█▊        | 239/1350 [31:34<59:10,  3.20s/it]  
 18%|█▊        | 240/1350 [31:34<42:42,  2.31s/it]
 18%|█▊        | 241/1350 [31:58<2:44:22,  8.89s/it]
 18%|█▊        | 242/1350 [31:58<1:56:21,  6.30s/it]
 18%|█▊        | 243/1350 [31:59<1:22:47,  4.49s/it]
 18%|█▊        | 244/1350 [31:59<59:22,  3.22s/it]  
 18%|█▊        | 245/1350 [31:59<42:59,  2.33s/it]
 18%|█▊        | 246/1350 [32:00<31:34,  1.72s/it]
 18%|█▊        | 247/1350 [32:00<23:34,  1.28s/it]
 18%|█▊        | 248/1350 [32:00<17:59,  1.02it/s]
 18%|█▊        | 249/1350 [36:05<22:41:34, 74.20s/it]
 19%|█▊        | 250/1350 [36:05<15:53:42, 52.02s/it]
 19%|█▊        | 251/1350 [36:06<11:08:26, 36.49s/it]
 19%|█▊        | 252/1350 [36:06<7:48:55, 25.62s/it] 
 19%|█▊        | 253/1350 [36:06<5:29:24, 18.02s/it]
 19%|█▉        | 254/1350 [36:06<3:51:49, 12.69s/it]
 19%|█▉        | 255/1350 [36:07<2:43:34,  8.96s/it]
 19%|█▉        | 256/1350 [36:07<1:55:50,  6.35s/it]
 19%|█▉        | 257/1350 [37:36<9:27:59, 31.18s/it]
 19%|█▉        | 258/1350 [37:36<6:38:40, 21.91s/it]
 19%|█▉        | 259/1350 [37:37<4:40:15, 15.41s/it]
 19%|█▉        | 260/1350 [37:37<3:17:25, 10.87s/it]
 19%|█▉        | 261/1350 [37:37<2:19:32,  7.69s/it]
 19%|█▉        | 262/1350 [37:37<1:39:01,  5.46s/it]
 19%|█▉        | 263/1350 [37:38<1:10:41,  3.90s/it]
 20%|█▉        | 264/1350 [37:38<50:54,  2.81s/it]  
 20%|█▉        | 265/1350 [41:46<22:58:38, 76.24s/it]
 20%|█▉        | 266/1350 [41:46<16:05:28, 53.44s/it]
 20%|█▉        | 267/1350 [41:46<11:16:31, 37.48s/it]
 20%|█▉        | 268/1350 [41:46<7:54:25, 26.31s/it] 
 20%|█▉        | 269/1350 [41:46<5:33:05, 18.49s/it]
 20%|██        | 270/1350 [41:47<3:54:14, 13.01s/it]
 20%|██        | 271/1350 [41:47<2:45:07,  9.18s/it]
 20%|██        | 272/1350 [41:47<1:56:45,  6.50s/it]
 20%|██        | 273/1350 [42:41<6:11:49, 20.71s/it]
 20%|██        | 274/1350 [42:41<4:21:21, 14.57s/it]
 20%|██        | 275/1350 [42:42<3:04:03, 10.27s/it]
 20%|██        | 276/1350 [42:42<2:09:59,  7.26s/it]
 21%|██        | 277/1350 [42:42<1:32:13,  5.16s/it]
 21%|██        | 278/1350 [42:42<1:05:46,  3.68s/it]
 21%|██        | 279/1350 [42:43<47:16,  2.65s/it]  
 21%|██        | 280/1350 [42:43<34:19,  1.92s/it]
 21%|██        | 281/1350 [44:28<9:45:24, 32.86s/it]
 21%|██        | 282/1350 [44:28<6:50:41, 23.07s/it]
 21%|██        | 283/1350 [44:28<4:48:29, 16.22s/it]
 21%|██        | 284/1350 [44:29<3:23:00, 11.43s/it]
 21%|██        | 285/1350 [44:29<2:23:15,  8.07s/it]
 21%|██        | 286/1350 [44:29<1:41:27,  5.72s/it]
 21%|██▏       | 287/1350 [44:29<1:12:12,  4.08s/it]
 21%|██▏       | 288/1350 [44:29<51:46,  2.93s/it]  
 21%|██▏       | 289/1350 [45:21<5:07:43, 17.40s/it]
 21%|██▏       | 290/1350 [45:21<3:36:36, 12.26s/it]
 22%|██▏       | 291/1350 [45:21<2:32:52,  8.66s/it]
 22%|██▏       | 292/1350 [45:21<1:48:18,  6.14s/it]
 22%|██▏       | 293/1350 [45:22<1:17:10,  4.38s/it]
 22%|██▏       | 294/1350 [45:22<55:22,  3.15s/it]  
 22%|██▏       | 295/1350 [45:22<40:09,  2.28s/it]
 22%|██▏       | 296/1350 [45:23<29:27,  1.68s/it]
 22%|██▏       | 297/1350 [46:24<5:45:42, 19.70s/it]
 22%|██▏       | 298/1350 [46:25<4:03:01, 13.86s/it]
 22%|██▏       | 299/1350 [46:25<2:51:12,  9.77s/it]
 22%|██▏       | 300/1350 [46:25<2:00:59,  6.91s/it]
 22%|██▏       | 301/1350 [46:25<1:25:51,  4.91s/it]
 22%|██▏       | 302/1350 [46:25<1:01:16,  3.51s/it]
 22%|██▏       | 303/1350 [46:26<44:05,  2.53s/it]  
 23%|██▎       | 304/1350 [46:26<32:04,  1.84s/it]
 23%|██▎       | 305/1350 [47:24<5:24:10, 18.61s/it]
 23%|██▎       | 306/1350 [47:24<3:47:57, 13.10s/it]
 23%|██▎       | 307/1350 [47:24<2:40:39,  9.24s/it]
 23%|██▎       | 308/1350 [47:24<1:53:38,  6.54s/it]
 23%|██▎       | 309/1350 [47:25<1:20:44,  4.65s/it]
 23%|██▎       | 310/1350 [47:25<57:41,  3.33s/it]  
 23%|██▎       | 311/1350 [47:25<41:34,  2.40s/it]
 23%|██▎       | 312/1350 [47:25<30:18,  1.75s/it]
 23%|██▎       | 313/1350 [48:17<4:49:33, 16.75s/it]
 23%|██▎       | 314/1350 [48:17<3:23:55, 11.81s/it]
 23%|██▎       | 315/1350 [48:18<2:24:00,  8.35s/it]
 23%|██▎       | 316/1350 [48:18<1:42:06,  5.92s/it]
 23%|██▎       | 317/1350 [48:18<1:12:51,  4.23s/it]
 24%|██▎       | 318/1350 [48:19<52:25,  3.05s/it]  
 24%|██▎       | 319/1350 [48:19<38:01,  2.21s/it]
 24%|██▎       | 320/1350 [48:19<27:56,  1.63s/it]
 24%|██▍       | 321/1350 [49:21<5:39:48, 19.81s/it]
 24%|██▍       | 322/1350 [49:22<3:59:00, 13.95s/it]
 24%|██▍       | 323/1350 [49:22<2:48:30,  9.84s/it]
 24%|██▍       | 324/1350 [49:22<1:59:10,  6.97s/it]
 24%|██▍       | 325/1350 [49:22<1:24:41,  4.96s/it]
 24%|██▍       | 326/1350 [49:23<1:00:38,  3.55s/it]
 24%|██▍       | 327/1350 [49:23<43:45,  2.57s/it]  
 24%|██▍       | 328/1350 [49:23<31:58,  1.88s/it]
 24%|██▍       | 329/1350 [50:13<4:37:46, 16.32s/it]
 24%|██▍       | 330/1350 [50:13<3:15:38, 11.51s/it]
 25%|██▍       | 331/1350 [50:14<2:18:09,  8.14s/it]
 25%|██▍       | 332/1350 [50:14<1:37:56,  5.77s/it]
 25%|██▍       | 333/1350 [50:14<1:09:50,  4.12s/it]
 25%|██▍       | 334/1350 [50:15<50:09,  2.96s/it]  
 25%|██▍       | 335/1350 [50:15<36:25,  2.15s/it]
 25%|██▍       | 336/1350 [50:15<26:48,  1.59s/it]
 25%|██▍       | 337/1350 [51:04<4:27:27, 15.84s/it]
 25%|██▌       | 338/1350 [51:04<3:08:32, 11.18s/it]
 25%|██▌       | 339/1350 [51:05<2:13:13,  7.91s/it]
 25%|██▌       | 340/1350 [51:05<1:34:31,  5.62s/it]
 25%|██▌       | 341/1350 [51:05<1:07:26,  4.01s/it]
 25%|██▌       | 342/1350 [51:06<48:29,  2.89s/it]  
 25%|██▌       | 343/1350 [51:06<35:15,  2.10s/it]
 25%|██▌       | 344/1350 [51:06<26:00,  1.55s/it]
 26%|██▌       | 345/1350 [51:46<3:39:20, 13.09s/it]
 26%|██▌       | 346/1350 [51:46<2:34:51,  9.25s/it]
 26%|██▌       | 347/1350 [51:47<1:49:38,  6.56s/it]
 26%|██▌       | 348/1350 [51:47<1:18:01,  4.67s/it]
 26%|██▌       | 349/1350 [51:47<55:58,  3.36s/it]  
 26%|██▌       | 350/1350 [51:47<40:28,  2.43s/it]
 26%|██▌       | 351/1350 [51:48<29:37,  1.78s/it]
 26%|██▌       | 352/1350 [51:48<22:03,  1.33s/it]
 26%|██▌       | 353/1350 [52:18<2:46:29, 10.02s/it]
 26%|██▌       | 354/1350 [52:19<1:57:46,  7.09s/it]
 26%|██▋       | 355/1350 [52:19<1:23:41,  5.05s/it]
 26%|██▋       | 356/1350 [52:19<59:52,  3.61s/it]  
 26%|██▋       | 357/1350 [52:19<43:11,  2.61s/it]
 27%|██▋       | 358/1350 [52:20<31:32,  1.91s/it]
 27%|██▋       | 359/1350 [52:20<23:23,  1.42s/it]
 27%|██▋       | 359/1350 [52:20<2:24:29,  8.75s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json.
+BlockStackingSpecifiedOrderTask_1 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_1, run: 1, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 360, duration: 24.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.061752940146222, 'joint_sparc_mean': -9.517063687289436, 'ee_isj': 2313.1573181435506, 'joint_isj': 25369.51263556019, 'ee_path_length': 3.245406308697584, 'joint_rmse_mean': 0.9320944609139392, 'ee_speed_max': 0.6033126711845398, 'ee_speed_mean': 0.1262625753879547}, events: {'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_OBJECT': 3, 'WRONG_OBJECT_GRABBED': 6, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'green_block', 'yellow_block', 'yellow_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 3058.953, 'policy_inference_avg_ms': 8497.1, 'env_step_s': 79.104, 'env_step_avg_ms': 219.7, 'video_write_s': 2.513, 'video_write_avg_ms': 7.0, 'wall_total_s': 3140.57, 'it_per_sec': 0.11}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: f6cc2f7450854500bcd81768a5445d83-1
+[RoboLab] Running BlockStackingSpecifiedOrderTask_2: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 2, 1 envs)
+
  0%|          | 0/1350 [00:00<?, ?it/s]
  0%|          | 1/1350 [00:36<13:43:39, 36.63s/it]
  0%|          | 2/1350 [00:36<5:42:22, 15.24s/it] 
  0%|          | 3/1350 [00:37<3:08:24,  8.39s/it]
  0%|          | 4/1350 [00:37<1:56:10,  5.18s/it]
  0%|          | 5/1350 [00:37<1:16:11,  3.40s/it]
  0%|          | 6/1350 [00:37<52:05,  2.33s/it]  
  1%|          | 7/1350 [00:38<36:51,  1.65s/it]
  1%|          | 8/1350 [00:38<26:48,  1.20s/it]
  1%|          | 9/1350 [00:45<1:11:24,  3.20s/it]
  1%|          | 10/1350 [00:46<50:58,  2.28s/it] 
  1%|          | 11/1350 [00:46<36:58,  1.66s/it]
  1%|          | 12/1350 [00:46<27:21,  1.23s/it]
  1%|          | 13/1350 [00:46<20:45,  1.07it/s]
  1%|          | 14/1350 [00:47<16:06,  1.38it/s]
  1%|          | 15/1350 [00:47<12:51,  1.73it/s]
  1%|          | 16/1350 [00:47<10:35,  2.10it/s]
  1%|▏         | 17/1350 [01:06<2:13:56,  6.03s/it]
  1%|▏         | 18/1350 [01:06<1:35:14,  4.29s/it]
  1%|▏         | 19/1350 [01:07<1:08:11,  3.07s/it]
  1%|▏         | 20/1350 [01:07<49:16,  2.22s/it]  
  2%|▏         | 21/1350 [01:07<36:01,  1.63s/it]
  2%|▏         | 22/1350 [01:07<26:47,  1.21s/it]
  2%|▏         | 23/1350 [01:08<20:18,  1.09it/s]
  2%|▏         | 24/1350 [01:08<15:46,  1.40it/s]
  2%|▏         | 25/1350 [01:19<1:22:40,  3.74s/it]
  2%|▏         | 26/1350 [01:19<59:27,  2.69s/it]  
  2%|▏         | 27/1350 [01:19<43:15,  1.96s/it]
  2%|▏         | 28/1350 [01:19<31:53,  1.45s/it]
  2%|▏         | 29/1350 [01:20<23:53,  1.09s/it]
  2%|▏         | 30/1350 [01:20<18:17,  1.20it/s]
  2%|▏         | 31/1350 [01:20<14:22,  1.53it/s]
  2%|▏         | 32/1350 [01:20<11:38,  1.89it/s]
  2%|▏         | 33/1350 [01:34<1:40:24,  4.57s/it]
  3%|▎         | 34/1350 [01:35<1:11:48,  3.27s/it]
  3%|▎         | 35/1350 [01:35<51:49,  2.36s/it]  
  3%|▎         | 36/1350 [01:35<37:50,  1.73s/it]
  3%|▎         | 37/1350 [01:35<28:02,  1.28s/it]
  3%|▎         | 38/1350 [01:35<21:11,  1.03it/s]
  3%|▎         | 39/1350 [01:36<16:25,  1.33it/s]
  3%|▎         | 40/1350 [01:36<13:03,  1.67it/s]
  3%|▎         | 41/1350 [01:59<2:40:35,  7.36s/it]
  3%|▎         | 42/1350 [01:59<1:53:55,  5.23s/it]
  3%|▎         | 43/1350 [02:00<1:21:15,  3.73s/it]
  3%|▎         | 44/1350 [02:00<58:24,  2.68s/it]  
  3%|▎         | 45/1350 [02:00<42:25,  1.95s/it]
  3%|▎         | 46/1350 [02:00<31:15,  1.44s/it]
  3%|▎         | 47/1350 [02:01<23:28,  1.08s/it]
  4%|▎         | 48/1350 [02:01<18:03,  1.20it/s]
  4%|▎         | 49/1350 [02:29<3:14:23,  8.97s/it]
  4%|▎         | 50/1350 [02:29<2:17:45,  6.36s/it]
  4%|▍         | 51/1350 [02:29<1:38:05,  4.53s/it]
  4%|▍         | 52/1350 [02:30<1:10:21,  3.25s/it]
  4%|▍         | 53/1350 [02:30<50:55,  2.36s/it]  
  4%|▍         | 54/1350 [02:30<37:19,  1.73s/it]
  4%|▍         | 55/1350 [02:30<27:47,  1.29s/it]
  4%|▍         | 56/1350 [02:31<21:09,  1.02it/s]
  4%|▍         | 57/1350 [02:44<1:38:26,  4.57s/it]
  4%|▍         | 58/1350 [02:44<1:10:23,  3.27s/it]
  4%|▍         | 59/1350 [02:44<50:48,  2.36s/it]  
  4%|▍         | 60/1350 [02:44<37:06,  1.73s/it]
  5%|▍         | 61/1350 [02:45<27:31,  1.28s/it]
  5%|▍         | 62/1350 [02:45<20:49,  1.03it/s]
  5%|▍         | 63/1350 [02:45<16:06,  1.33it/s]
  5%|▍         | 64/1350 [02:45<12:53,  1.66it/s]
  5%|▍         | 65/1350 [03:04<2:08:33,  6.00s/it]
  5%|▍         | 66/1350 [03:04<1:31:30,  4.28s/it]
  5%|▍         | 67/1350 [03:04<1:05:32,  3.07s/it]
  5%|▌         | 68/1350 [03:05<47:22,  2.22s/it]  
  5%|▌         | 69/1350 [03:05<34:39,  1.62s/it]
  5%|▌         | 70/1350 [03:05<25:48,  1.21s/it]
  5%|▌         | 71/1350 [03:05<19:35,  1.09it/s]
  5%|▌         | 72/1350 [03:06<15:15,  1.40it/s]
  5%|▌         | 73/1350 [03:40<3:47:25, 10.69s/it]
  5%|▌         | 74/1350 [03:40<2:40:50,  7.56s/it]
  6%|▌         | 75/1350 [03:40<1:54:11,  5.37s/it]
  6%|▌         | 76/1350 [03:40<1:21:35,  3.84s/it]
  6%|▌         | 77/1350 [03:41<58:45,  2.77s/it]  
  6%|▌         | 78/1350 [03:41<42:45,  2.02s/it]
  6%|▌         | 79/1350 [03:41<31:33,  1.49s/it]
  6%|▌         | 80/1350 [03:41<23:47,  1.12s/it]
  6%|▌         | 81/1350 [04:04<2:42:19,  7.67s/it]
  6%|▌         | 82/1350 [04:05<1:55:12,  5.45s/it]
  6%|▌         | 83/1350 [04:05<1:22:14,  3.89s/it]
  6%|▌         | 84/1350 [04:05<59:11,  2.80s/it]  
  6%|▋         | 85/1350 [04:05<43:03,  2.04s/it]
  6%|▋         | 86/1350 [04:06<31:46,  1.51s/it]
  6%|▋         | 87/1350 [04:06<23:52,  1.13s/it]
  7%|▋         | 88/1350 [04:06<18:20,  1.15it/s]
  7%|▋         | 89/1350 [04:29<2:34:07,  7.33s/it]
  7%|▋         | 90/1350 [04:29<1:49:25,  5.21s/it]
  7%|▋         | 91/1350 [04:29<1:18:10,  3.73s/it]
  7%|▋         | 92/1350 [04:29<56:18,  2.69s/it]  
  7%|▋         | 93/1350 [04:30<41:00,  1.96s/it]
  7%|▋         | 94/1350 [04:30<30:18,  1.45s/it]
  7%|▋         | 95/1350 [04:30<22:50,  1.09s/it]
  7%|▋         | 96/1350 [04:30<17:36,  1.19it/s]
  7%|▋         | 97/1350 [06:17<11:20:36, 32.59s/it]
  7%|▋         | 98/1350 [06:17<7:57:43, 22.89s/it] 
  7%|▋         | 99/1350 [06:18<5:35:48, 16.11s/it]
  7%|▋         | 100/1350 [06:18<3:56:34, 11.36s/it]
  7%|▋         | 101/1350 [06:18<2:47:08,  8.03s/it]
  8%|▊         | 102/1350 [06:18<1:58:33,  5.70s/it]
  8%|▊         | 103/1350 [06:19<1:24:34,  4.07s/it]
  8%|▊         | 104/1350 [06:19<1:00:47,  2.93s/it]
  8%|▊         | 105/1350 [07:11<6:09:28, 17.81s/it]
  8%|▊         | 106/1350 [07:12<4:20:04, 12.54s/it]
  8%|▊         | 107/1350 [07:12<3:03:31,  8.86s/it]
  8%|▊         | 108/1350 [07:12<2:10:04,  6.28s/it]
  8%|▊         | 109/1350 [07:13<1:32:35,  4.48s/it]
  8%|▊         | 110/1350 [07:13<1:06:24,  3.21s/it]
  8%|▊         | 111/1350 [07:13<48:04,  2.33s/it]  
  8%|▊         | 112/1350 [07:13<35:14,  1.71s/it]
  8%|▊         | 113/1350 [08:37<9:04:26, 26.41s/it]
  8%|▊         | 114/1350 [08:38<6:22:29, 18.57s/it]
  9%|▊         | 115/1350 [08:38<4:29:09, 13.08s/it]
  9%|▊         | 116/1350 [08:38<3:09:51,  9.23s/it]
  9%|▊         | 117/1350 [08:38<2:14:23,  6.54s/it]
  9%|▊         | 118/1350 [08:39<1:35:35,  4.66s/it]
  9%|▉         | 119/1350 [08:39<1:08:28,  3.34s/it]
  9%|▉         | 120/1350 [08:39<49:29,  2.41s/it]  
  9%|▉         | 121/1350 [09:43<7:04:02, 20.70s/it]
  9%|▉         | 122/1350 [09:43<4:58:13, 14.57s/it]
  9%|▉         | 123/1350 [09:43<3:30:12, 10.28s/it]
  9%|▉         | 124/1350 [09:43<2:28:38,  7.27s/it]
  9%|▉         | 125/1350 [09:44<1:45:33,  5.17s/it]
  9%|▉         | 126/1350 [09:44<1:15:25,  3.70s/it]
  9%|▉         | 127/1350 [09:44<54:24,  2.67s/it]  
  9%|▉         | 128/1350 [09:44<39:39,  1.95s/it]
 10%|▉         | 129/1350 [11:01<8:12:53, 24.22s/it]
 10%|▉         | 130/1350 [11:01<5:46:12, 17.03s/it]
 10%|▉         | 131/1350 [11:01<4:03:35, 11.99s/it]
 10%|▉         | 132/1350 [11:01<2:51:49,  8.46s/it]
 10%|▉         | 133/1350 [11:02<2:01:37,  6.00s/it]
 10%|▉         | 134/1350 [11:02<1:26:31,  4.27s/it]
 10%|█         | 135/1350 [11:02<1:01:57,  3.06s/it]
 10%|█         | 136/1350 [11:02<44:46,  2.21s/it]  
 10%|█         | 137/1350 [11:49<5:16:55, 15.68s/it]
 10%|█         | 138/1350 [11:50<3:43:06, 11.04s/it]
 10%|█         | 139/1350 [11:50<2:37:28,  7.80s/it]
 10%|█         | 140/1350 [11:50<1:51:35,  5.53s/it]
 10%|█         | 141/1350 [11:50<1:19:30,  3.95s/it]
 11%|█         | 142/1350 [11:51<57:02,  2.83s/it]  
 11%|█         | 143/1350 [11:51<41:20,  2.05s/it]
 11%|█         | 144/1350 [11:51<30:20,  1.51s/it]
 11%|█         | 145/1350 [12:28<4:04:01, 12.15s/it]
 11%|█         | 146/1350 [12:28<2:52:06,  8.58s/it]
 11%|█         | 147/1350 [12:29<2:01:55,  6.08s/it]
 11%|█         | 148/1350 [12:29<1:26:44,  4.33s/it]
 11%|█         | 149/1350 [12:29<1:02:06,  3.10s/it]
 11%|█         | 150/1350 [12:29<44:52,  2.24s/it]  
 11%|█         | 151/1350 [12:29<32:49,  1.64s/it]
 11%|█▏        | 152/1350 [12:30<24:24,  1.22s/it]
 11%|█▏        | 153/1350 [12:50<2:19:39,  7.00s/it]
 11%|█▏        | 154/1350 [12:50<1:39:05,  4.97s/it]
 11%|█▏        | 155/1350 [12:51<1:10:42,  3.55s/it]
 12%|█▏        | 156/1350 [12:51<50:52,  2.56s/it]  
 12%|█▏        | 157/1350 [12:51<36:59,  1.86s/it]
 12%|█▏        | 158/1350 [12:51<27:18,  1.37s/it]
 12%|█▏        | 159/1350 [12:52<20:30,  1.03s/it]
 12%|█▏        | 160/1350 [12:52<15:45,  1.26it/s]
 12%|█▏        | 161/1350 [14:47<11:35:55, 35.12s/it]
 12%|█▏        | 162/1350 [14:47<8:08:12, 24.66s/it] 
 12%|█▏        | 163/1350 [14:48<5:42:54, 17.33s/it]
 12%|█▏        | 164/1350 [14:48<4:01:16, 12.21s/it]
 12%|█▏        | 165/1350 [14:48<2:50:12,  8.62s/it]
 12%|█▏        | 166/1350 [14:48<2:00:29,  6.11s/it]
 12%|█▏        | 167/1350 [14:49<1:25:43,  4.35s/it]
 12%|█▏        | 168/1350 [14:49<1:01:24,  3.12s/it]
 13%|█▎        | 169/1350 [16:03<8:03:39, 24.57s/it]
 13%|█▎        | 170/1350 [16:04<5:39:41, 17.27s/it]
 13%|█▎        | 171/1350 [16:04<3:58:59, 12.16s/it]
 13%|█▎        | 172/1350 [16:04<2:48:33,  8.59s/it]
 13%|█▎        | 173/1350 [16:04<1:59:17,  6.08s/it]
 13%|█▎        | 174/1350 [16:05<1:24:50,  4.33s/it]
 13%|█▎        | 175/1350 [16:05<1:00:45,  3.10s/it]
 13%|█▎        | 176/1350 [16:05<43:53,  2.24s/it]  
 13%|█▎        | 177/1350 [21:24<31:43:05, 97.34s/it]
 13%|█▎        | 178/1350 [21:25<22:12:30, 68.22s/it]
 13%|█▎        | 179/1350 [21:25<15:33:26, 47.83s/it]
 13%|█▎        | 180/1350 [21:25<10:54:19, 33.56s/it]
 13%|█▎        | 181/1350 [21:25<7:39:09, 23.57s/it] 
 13%|█▎        | 182/1350 [21:26<5:22:40, 16.58s/it]
 14%|█▎        | 183/1350 [21:26<3:47:12, 11.68s/it]
 14%|█▎        | 184/1350 [21:26<2:40:27,  8.26s/it]
 14%|█▎        | 185/1350 [22:19<6:57:19, 21.49s/it]
 14%|█▍        | 186/1350 [22:19<4:53:26, 15.13s/it]
 14%|█▍        | 187/1350 [22:19<3:26:47, 10.67s/it]
 14%|█▍        | 188/1350 [22:19<2:26:09,  7.55s/it]
 14%|█▍        | 189/1350 [22:20<1:43:44,  5.36s/it]
 14%|█▍        | 190/1350 [22:20<1:14:05,  3.83s/it]
 14%|█▍        | 191/1350 [22:20<53:21,  2.76s/it]  
 14%|█▍        | 192/1350 [22:20<38:54,  2.02s/it]
 14%|█▍        | 193/1350 [23:57<9:43:24, 30.25s/it]
 14%|█▍        | 194/1350 [23:57<6:49:35, 21.26s/it]
 14%|█▍        | 195/1350 [23:57<4:47:59, 14.96s/it]
 15%|█▍        | 196/1350 [23:57<3:22:55, 10.55s/it]
 15%|█▍        | 197/1350 [23:58<2:23:27,  7.47s/it]
 15%|█▍        | 198/1350 [23:58<1:41:50,  5.30s/it]
 15%|█▍        | 199/1350 [23:58<1:12:45,  3.79s/it]
 15%|█▍        | 200/1350 [23:58<52:23,  2.73s/it]  
 15%|█▍        | 201/1350 [24:22<2:49:33,  8.85s/it]
 15%|█▍        | 202/1350 [24:22<2:00:09,  6.28s/it]
 15%|█▌        | 203/1350 [24:22<1:25:37,  4.48s/it]
 15%|█▌        | 204/1350 [24:22<1:01:25,  3.22s/it]
 15%|█▌        | 205/1350 [24:23<44:29,  2.33s/it]  
 15%|█▌        | 206/1350 [24:23<32:39,  1.71s/it]
 15%|█▌        | 207/1350 [24:23<24:22,  1.28s/it]
 15%|█▌        | 208/1350 [24:23<18:33,  1.03it/s]
 15%|█▌        | 209/1350 [24:43<2:02:57,  6.47s/it]
 16%|█▌        | 210/1350 [24:43<1:27:31,  4.61s/it]
 16%|█▌        | 211/1350 [24:43<1:02:43,  3.30s/it]
 16%|█▌        | 212/1350 [24:43<45:22,  2.39s/it]  
 16%|█▌        | 213/1350 [24:44<33:13,  1.75s/it]
 16%|█▌        | 214/1350 [24:44<24:44,  1.31s/it]
 16%|█▌        | 215/1350 [24:44<18:47,  1.01it/s]
 16%|█▌        | 216/1350 [24:45<14:38,  1.29it/s]
 16%|█▌        | 217/1350 [25:21<3:37:54, 11.54s/it]
 16%|█▌        | 218/1350 [25:21<2:33:53,  8.16s/it]
 16%|█▌        | 219/1350 [25:22<1:49:06,  5.79s/it]
 16%|█▋        | 220/1350 [25:22<1:17:48,  4.13s/it]
 16%|█▋        | 221/1350 [25:22<55:54,  2.97s/it]  
 16%|█▋        | 222/1350 [25:23<40:34,  2.16s/it]
 17%|█▋        | 223/1350 [25:23<29:52,  1.59s/it]
 17%|█▋        | 224/1350 [25:23<22:26,  1.20s/it]
 17%|█▋        | 225/1350 [26:31<6:40:07, 21.34s/it]
 17%|█▋        | 226/1350 [26:32<4:41:11, 15.01s/it]
 17%|█▋        | 227/1350 [26:32<3:18:00, 10.58s/it]
 17%|█▋        | 228/1350 [26:32<2:19:50,  7.48s/it]
 17%|█▋        | 229/1350 [26:32<1:39:09,  5.31s/it]
 17%|█▋        | 230/1350 [26:33<1:10:42,  3.79s/it]
 17%|█▋        | 231/1350 [26:33<50:47,  2.72s/it]  
 17%|█▋        | 232/1350 [26:33<36:54,  1.98s/it]
 17%|█▋        | 233/1350 [26:54<2:23:56,  7.73s/it]
 17%|█▋        | 234/1350 [26:55<1:42:10,  5.49s/it]
 17%|█▋        | 235/1350 [26:55<1:12:48,  3.92s/it]
 17%|█▋        | 236/1350 [26:55<52:16,  2.82s/it]  
 18%|█▊        | 237/1350 [26:55<37:57,  2.05s/it]
 18%|█▊        | 238/1350 [26:56<27:53,  1.50s/it]
 18%|█▊        | 239/1350 [26:56<20:49,  1.13s/it]
 18%|█▊        | 240/1350 [26:56<15:55,  1.16it/s]
 18%|█▊        | 241/1350 [27:37<3:59:56, 12.98s/it]
 18%|█▊        | 242/1350 [27:38<2:49:15,  9.17s/it]
 18%|█▊        | 243/1350 [27:38<1:59:45,  6.49s/it]
 18%|█▊        | 244/1350 [27:38<1:25:07,  4.62s/it]
 18%|█▊        | 245/1350 [27:38<1:00:52,  3.31s/it]
 18%|█▊        | 246/1350 [27:38<43:54,  2.39s/it]  
 18%|█▊        | 247/1350 [27:39<32:03,  1.74s/it]
 18%|█▊        | 248/1350 [27:39<23:44,  1.29s/it]
 18%|█▊        | 249/1350 [28:06<2:44:41,  8.98s/it]
 19%|█▊        | 250/1350 [28:06<1:56:31,  6.36s/it]
 19%|█▊        | 251/1350 [28:06<1:22:50,  4.52s/it]
 19%|█▊        | 252/1350 [28:07<59:18,  3.24s/it]  
 19%|█▊        | 253/1350 [28:07<42:50,  2.34s/it]
 19%|█▉        | 254/1350 [28:07<31:19,  1.71s/it]
 19%|█▉        | 255/1350 [28:07<23:18,  1.28s/it]
 19%|█▉        | 256/1350 [28:08<17:41,  1.03it/s]
 19%|█▉        | 257/1350 [28:31<2:18:32,  7.61s/it]
 19%|█▉        | 258/1350 [28:31<1:38:12,  5.40s/it]
 19%|█▉        | 259/1350 [28:31<1:09:59,  3.85s/it]
 19%|█▉        | 260/1350 [28:31<50:15,  2.77s/it]  
 19%|█▉        | 261/1350 [28:32<36:29,  2.01s/it]
 19%|█▉        | 262/1350 [28:32<26:50,  1.48s/it]
 19%|█▉        | 263/1350 [28:32<20:04,  1.11s/it]
 20%|█▉        | 264/1350 [28:32<15:22,  1.18it/s]
 20%|█▉        | 265/1350 [28:55<2:13:43,  7.40s/it]
 20%|█▉        | 266/1350 [28:55<1:34:49,  5.25s/it]
 20%|█▉        | 267/1350 [28:56<1:07:37,  3.75s/it]
 20%|█▉        | 268/1350 [28:56<48:34,  2.69s/it]  
 20%|█▉        | 269/1350 [28:56<35:17,  1.96s/it]
 20%|██        | 270/1350 [28:56<25:58,  1.44s/it]
 20%|██        | 271/1350 [28:57<19:27,  1.08s/it]
 20%|██        | 272/1350 [28:57<14:54,  1.21it/s]
 20%|██        | 273/1350 [29:29<3:02:33, 10.17s/it]
 20%|██        | 274/1350 [29:29<2:09:11,  7.20s/it]
 20%|██        | 275/1350 [29:29<1:31:47,  5.12s/it]
 20%|██        | 276/1350 [29:30<1:05:38,  3.67s/it]
 21%|██        | 277/1350 [29:30<47:18,  2.65s/it]  
 21%|██        | 278/1350 [29:30<34:31,  1.93s/it]
 21%|██        | 279/1350 [29:30<25:33,  1.43s/it]
 21%|██        | 280/1350 [29:31<19:16,  1.08s/it]
 21%|██        | 281/1350 [30:59<8:03:45, 27.15s/it]
 21%|██        | 282/1350 [30:59<5:39:46, 19.09s/it]
 21%|██        | 283/1350 [30:59<3:59:04, 13.44s/it]
 21%|██        | 284/1350 [30:59<2:48:37,  9.49s/it]
 21%|██        | 285/1350 [31:00<1:59:22,  6.73s/it]
 21%|██        | 286/1350 [31:00<1:24:55,  4.79s/it]
 21%|██▏       | 287/1350 [31:00<1:00:47,  3.43s/it]
 21%|██▏       | 288/1350 [31:00<43:56,  2.48s/it]  
 21%|██▏       | 289/1350 [31:37<3:43:01, 12.61s/it]
 21%|██▏       | 290/1350 [31:37<2:37:29,  8.92s/it]
 22%|██▏       | 291/1350 [31:37<1:51:36,  6.32s/it]
 22%|██▏       | 292/1350 [31:38<1:19:29,  4.51s/it]
 22%|██▏       | 293/1350 [31:38<57:00,  3.24s/it]  
 22%|██▏       | 294/1350 [31:38<41:18,  2.35s/it]
 22%|██▏       | 295/1350 [31:38<30:17,  1.72s/it]
 22%|██▏       | 296/1350 [31:39<22:35,  1.29s/it]
 22%|██▏       | 297/1350 [32:14<3:23:49, 11.61s/it]
 22%|██▏       | 298/1350 [32:15<2:24:00,  8.21s/it]
 22%|██▏       | 299/1350 [32:15<1:42:08,  5.83s/it]
 22%|██▏       | 300/1350 [32:15<1:12:54,  4.17s/it]
 22%|██▏       | 301/1350 [32:15<52:24,  3.00s/it]  
 22%|██▏       | 302/1350 [32:16<38:04,  2.18s/it]
 22%|██▏       | 303/1350 [32:16<28:02,  1.61s/it]
 23%|██▎       | 304/1350 [32:16<21:00,  1.21s/it]
 23%|██▎       | 305/1350 [32:56<3:42:26, 12.77s/it]
 23%|██▎       | 306/1350 [32:56<2:37:00,  9.02s/it]
 23%|██▎       | 307/1350 [32:57<1:51:15,  6.40s/it]
 23%|██▎       | 308/1350 [32:57<1:19:15,  4.56s/it]
 23%|██▎       | 309/1350 [32:57<56:53,  3.28s/it]  
 23%|██▎       | 310/1350 [32:57<41:13,  2.38s/it]
 23%|██▎       | 311/1350 [32:58<30:14,  1.75s/it]
 23%|██▎       | 312/1350 [32:58<22:35,  1.31s/it]
 23%|██▎       | 313/1350 [33:29<2:59:08, 10.36s/it]
 23%|██▎       | 314/1350 [33:30<2:06:44,  7.34s/it]
 23%|██▎       | 315/1350 [33:30<1:30:04,  5.22s/it]
 23%|██▎       | 315/1350 [33:30<1:50:07,  6.38s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json.
+BlockStackingSpecifiedOrderTask_2 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_2, run: 2, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 316, duration: 21.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.158584608206903, 'joint_sparc_mean': -8.63092440972684, 'ee_isj': 2304.3355065130327, 'joint_isj': 26379.787015288348, 'ee_path_length': 3.112475486877131, 'joint_rmse_mean': 0.9390732896226244, 'ee_speed_max': 0.5887623429298401, 'ee_speed_mean': 0.13844434916973114}, events: {'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 1938.428, 'policy_inference_avg_ms': 6134.3, 'env_step_s': 69.712, 'env_step_avg_ms': 220.6, 'video_write_s': 2.585, 'video_write_avg_ms': 8.2, 'wall_total_s': 2010.725, 'it_per_sec': 0.16}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: b5b4dc5ed91e4edda1cbec21da81630a-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T03:57:33Z [11,840,310ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.215668 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T03:57:36Z [11,843,768ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-02T03:57:36Z [11,843,869ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T03:57:36Z [11,843,869ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T03:57:36Z [11,843,878ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T03:57:36Z [11,843,878ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T03:57:36Z [11,843,885ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T03:57:36Z [11,843,892ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T03:57:37Z [11,844,593ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-11-02T03:57:37Z [11,844,594ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-11-02T03:57:38Z [11,845,259ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((672))' not available in the MDL representation.
+2026-11-02T03:57:38Z [11,845,259ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((672))' not available in the MDL representation.
+2026-11-02T03:57:38Z [11,845,273ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-11-02T03:57:38Z [11,845,273ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-11-02T03:57:38Z [11,845,278ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-11-02T03:57:38Z [11,845,278ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-11-02T03:57:38Z [11,845,291ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((685))' not available in the MDL representation.
+2026-11-02T03:57:38Z [11,845,291ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((685))' not available in the MDL representation.
+2026-11-02T03:57:38Z [11,845,343ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((709))' not available in the MDL representation.
+2026-11-02T03:57:38Z [11,845,343ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((709))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,122ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,123ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,127ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((672))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,127ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((672))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,128ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,128ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,128ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,129ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,129ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((685))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,130ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((685))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,131ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((709))' not available in the MDL representation.
+2026-11-02T03:57:39Z [11,846,131ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((709))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.718641 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientRedMugTask                            │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the red mug upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientRedMugTaskSceneEnvCfg                 │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientRedMugTask_0: 'Put the red mug upright so that the opening is facing upwards.' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:49<12:14:40, 49.03s/it]
  0%|          | 2/900 [00:49<5:05:13, 20.39s/it] 
  0%|          | 3/900 [00:49<2:48:00, 11.24s/it]
  0%|          | 4/900 [00:50<1:43:33,  6.93s/it]
  1%|          | 5/900 [00:50<1:07:54,  4.55s/it]
  1%|          | 6/900 [00:50<46:24,  3.11s/it]  
  1%|          | 7/900 [00:51<32:45,  2.20s/it]
  1%|          | 8/900 [00:51<23:47,  1.60s/it]
  1%|          | 9/900 [01:26<2:57:41, 11.97s/it]
  1%|          | 10/900 [01:26<2:04:08,  8.37s/it]
  1%|          | 11/900 [01:26<1:27:27,  5.90s/it]
  1%|▏         | 12/900 [01:27<1:02:09,  4.20s/it]
  1%|▏         | 13/900 [01:27<44:41,  3.02s/it]  
  2%|▏         | 14/900 [01:27<32:32,  2.20s/it]
  2%|▏         | 15/900 [01:27<24:05,  1.63s/it]
  2%|▏         | 16/900 [01:28<18:12,  1.24s/it]
  2%|▏         | 17/900 [01:54<2:08:36,  8.74s/it]
  2%|▏         | 18/900 [01:54<1:31:13,  6.21s/it]
  2%|▏         | 19/900 [01:55<1:05:07,  4.43s/it]
  2%|▏         | 20/900 [01:55<46:57,  3.20s/it]  
  2%|▏         | 21/900 [01:55<34:17,  2.34s/it]
  2%|▏         | 22/900 [01:56<25:30,  1.74s/it]
  3%|▎         | 23/900 [01:56<19:25,  1.33s/it]
  3%|▎         | 24/900 [01:56<15:06,  1.04s/it]
  3%|▎         | 25/900 [02:07<55:20,  3.79s/it]
  3%|▎         | 26/900 [02:07<40:16,  2.76s/it]
  3%|▎         | 27/900 [02:07<29:40,  2.04s/it]
  3%|▎         | 28/900 [02:08<22:16,  1.53s/it]
  3%|▎         | 29/900 [02:08<17:05,  1.18s/it]
  3%|▎         | 30/900 [02:08<13:29,  1.07it/s]
  3%|▎         | 31/900 [02:09<10:57,  1.32it/s]
  4%|▎         | 32/900 [02:09<09:13,  1.57it/s]
  4%|▎         | 33/900 [02:27<1:25:41,  5.93s/it]
  4%|▍         | 34/900 [02:28<1:01:30,  4.26s/it]
  4%|▍         | 35/900 [02:28<44:32,  3.09s/it]  
  4%|▍         | 36/900 [02:28<32:40,  2.27s/it]
  4%|▍         | 37/900 [02:29<24:23,  1.70s/it]
  4%|▍         | 38/900 [02:29<18:33,  1.29s/it]
  4%|▍         | 39/900 [02:29<14:28,  1.01s/it]
  4%|▍         | 40/900 [02:30<11:42,  1.22it/s]
  5%|▍         | 41/900 [03:29<4:23:01, 18.37s/it]
  5%|▍         | 42/900 [03:30<3:05:33, 12.98s/it]
  5%|▍         | 43/900 [03:30<2:11:17,  9.19s/it]
  5%|▍         | 44/900 [03:30<1:33:20,  6.54s/it]
  5%|▌         | 45/900 [03:31<1:06:48,  4.69s/it]
  5%|▌         | 46/900 [03:31<48:14,  3.39s/it]  
  5%|▌         | 47/900 [03:31<35:16,  2.48s/it]
  5%|▌         | 48/900 [03:32<26:16,  1.85s/it]
  5%|▌         | 49/900 [03:49<1:31:45,  6.47s/it]
  6%|▌         | 50/900 [03:49<1:05:44,  4.64s/it]
  6%|▌         | 51/900 [03:50<47:33,  3.36s/it]  
  6%|▌         | 52/900 [03:50<34:47,  2.46s/it]
  6%|▌         | 53/900 [03:50<25:53,  1.83s/it]
  6%|▌         | 54/900 [03:51<19:41,  1.40s/it]
  6%|▌         | 55/900 [03:51<15:21,  1.09s/it]
  6%|▌         | 56/900 [03:52<12:18,  1.14it/s]
  6%|▋         | 57/900 [04:14<1:42:12,  7.27s/it]
  6%|▋         | 58/900 [04:14<1:13:05,  5.21s/it]
  7%|▋         | 59/900 [04:15<52:43,  3.76s/it]  
  7%|▋         | 60/900 [04:15<38:28,  2.75s/it]
  7%|▋         | 61/900 [04:15<28:30,  2.04s/it]
  7%|▋         | 62/900 [04:16<21:34,  1.54s/it]
  7%|▋         | 63/900 [04:16<16:39,  1.19s/it]
  7%|▋         | 64/900 [04:16<13:17,  1.05it/s]
  7%|▋         | 65/900 [04:53<2:43:22, 11.74s/it]
  7%|▋         | 66/900 [04:54<1:55:45,  8.33s/it]
  7%|▋         | 67/900 [04:54<1:22:26,  5.94s/it]
  8%|▊         | 68/900 [04:54<59:07,  4.26s/it]  
  8%|▊         | 69/900 [04:55<42:51,  3.09s/it]
  8%|▊         | 70/900 [04:55<31:27,  2.27s/it]
  8%|▊         | 71/900 [04:56<23:29,  1.70s/it]
  8%|▊         | 72/900 [04:56<18:01,  1.31s/it]
  8%|▊         | 73/900 [05:14<1:26:34,  6.28s/it]
  8%|▊         | 74/900 [05:14<1:02:03,  4.51s/it]
  8%|▊         | 75/900 [05:15<44:54,  3.27s/it]  
  8%|▊         | 76/900 [05:15<32:54,  2.40s/it]
  9%|▊         | 77/900 [05:15<24:30,  1.79s/it]
  9%|▊         | 78/900 [05:16<18:39,  1.36s/it]
  9%|▉         | 79/900 [05:16<14:32,  1.06s/it]
  9%|▉         | 80/900 [05:16<11:39,  1.17it/s]
  9%|▉         | 81/900 [05:57<2:54:00, 12.75s/it]
  9%|▉         | 82/900 [05:57<2:03:09,  9.03s/it]
  9%|▉         | 83/900 [05:58<1:27:38,  6.44s/it]
  9%|▉         | 84/900 [05:58<1:02:48,  4.62s/it]
  9%|▉         | 85/900 [05:58<45:30,  3.35s/it]  
 10%|▉         | 86/900 [05:59<33:22,  2.46s/it]
 10%|▉         | 87/900 [05:59<24:52,  1.84s/it]
 10%|▉         | 88/900 [06:00<18:55,  1.40s/it]
 10%|▉         | 89/900 [07:22<5:46:44, 25.65s/it]
 10%|█         | 90/900 [07:22<4:03:53, 18.07s/it]
 10%|█         | 91/900 [07:23<2:51:58, 12.75s/it]
 10%|█         | 92/900 [07:23<2:01:42,  9.04s/it]
 10%|█         | 93/900 [07:23<1:26:35,  6.44s/it]
 10%|█         | 94/900 [07:24<1:02:01,  4.62s/it]
 11%|█         | 95/900 [07:24<44:51,  3.34s/it]  
 11%|█         | 96/900 [07:24<32:51,  2.45s/it]
 11%|█         | 97/900 [07:56<2:29:05, 11.14s/it]
 11%|█         | 98/900 [07:56<1:45:43,  7.91s/it]
 11%|█         | 99/900 [07:57<1:15:21,  5.65s/it]
 11%|█         | 100/900 [07:57<54:09,  4.06s/it] 
 11%|█         | 101/900 [07:57<39:22,  2.96s/it]
 11%|█▏        | 102/900 [07:58<29:01,  2.18s/it]
 11%|█▏        | 103/900 [07:58<21:47,  1.64s/it]
 12%|█▏        | 104/900 [07:58<16:40,  1.26s/it]
 12%|█▏        | 105/900 [08:38<2:49:19, 12.78s/it]
 12%|█▏        | 106/900 [08:38<1:59:48,  9.05s/it]
 12%|█▏        | 107/900 [08:39<1:25:10,  6.44s/it]
 12%|█▏        | 108/900 [08:39<1:00:58,  4.62s/it]
 12%|█▏        | 109/900 [08:39<44:05,  3.34s/it]  
 12%|█▏        | 110/900 [08:40<32:14,  2.45s/it]
 12%|█▏        | 111/900 [08:40<23:57,  1.82s/it]
 12%|█▏        | 112/900 [08:41<18:12,  1.39s/it]
 13%|█▎        | 113/900 [09:28<3:20:00, 15.25s/it]
 13%|█▎        | 114/900 [09:29<2:21:15, 10.78s/it]
 13%|█▎        | 115/900 [09:29<1:40:10,  7.66s/it]
 13%|█▎        | 116/900 [09:29<1:11:26,  5.47s/it]
 13%|█▎        | 117/900 [09:30<51:22,  3.94s/it]  
 13%|█▎        | 118/900 [09:30<37:23,  2.87s/it]
 13%|█▎        | 119/900 [09:30<27:40,  2.13s/it]
 13%|█▎        | 120/900 [09:31<20:47,  1.60s/it]
 13%|█▎        | 121/900 [10:42<4:52:07, 22.50s/it]
 14%|█▎        | 122/900 [10:42<3:25:35, 15.85s/it]
 14%|█▎        | 123/900 [10:43<2:25:04, 11.20s/it]
 14%|█▍        | 124/900 [10:43<1:42:46,  7.95s/it]
 14%|█▍        | 125/900 [10:43<1:13:13,  5.67s/it]
 14%|█▍        | 126/900 [10:44<52:35,  4.08s/it]  
 14%|█▍        | 127/900 [10:44<38:05,  2.96s/it]
 14%|█▍        | 128/900 [10:44<27:59,  2.17s/it]
 14%|█▍        | 129/900 [11:10<1:56:14,  9.05s/it]
 14%|█▍        | 130/900 [11:10<1:22:32,  6.43s/it]
 15%|█▍        | 131/900 [11:10<58:58,  4.60s/it]  
 15%|█▍        | 132/900 [11:11<42:27,  3.32s/it]
 15%|█▍        | 133/900 [11:11<30:50,  2.41s/it]
 15%|█▍        | 134/900 [11:11<22:43,  1.78s/it]
 15%|█▌        | 135/900 [11:11<17:03,  1.34s/it]
 15%|█▌        | 136/900 [11:12<13:07,  1.03s/it]
 15%|█▌        | 137/900 [11:37<1:43:57,  8.18s/it]
 15%|█▌        | 138/900 [11:37<1:13:53,  5.82s/it]
 15%|█▌        | 139/900 [11:37<52:53,  4.17s/it]  
 16%|█▌        | 140/900 [11:38<38:14,  3.02s/it]
 16%|█▌        | 141/900 [11:38<27:59,  2.21s/it]
 16%|█▌        | 142/900 [11:38<20:48,  1.65s/it]
 16%|█▌        | 143/900 [11:39<15:47,  1.25s/it]
 16%|█▌        | 144/900 [11:39<12:16,  1.03it/s]
 16%|█▌        | 145/900 [12:33<3:31:31, 16.81s/it]
 16%|█▌        | 146/900 [12:33<2:29:07, 11.87s/it]
 16%|█▋        | 147/900 [12:33<1:45:31,  8.41s/it]
 16%|█▋        | 148/900 [12:34<1:14:59,  5.98s/it]
 17%|█▋        | 149/900 [12:34<53:37,  4.28s/it]  
 17%|█▋        | 150/900 [12:34<38:41,  3.09s/it]
 17%|█▋        | 151/900 [12:35<28:16,  2.27s/it]
 17%|█▋        | 152/900 [12:35<20:58,  1.68s/it]
 17%|█▋        | 153/900 [13:18<2:55:25, 14.09s/it]
 17%|█▋        | 154/900 [13:18<2:03:48,  9.96s/it]
 17%|█▋        | 155/900 [13:19<1:27:42,  7.06s/it]
 17%|█▋        | 156/900 [13:19<1:02:30,  5.04s/it]
 17%|█▋        | 157/900 [13:19<44:53,  3.62s/it]  
 18%|█▊        | 158/900 [13:20<32:31,  2.63s/it]
 18%|█▊        | 159/900 [13:20<23:53,  1.93s/it]
 18%|█▊        | 160/900 [13:20<17:51,  1.45s/it]
 18%|█▊        | 161/900 [13:45<1:43:27,  8.40s/it]
 18%|█▊        | 162/900 [13:45<1:13:28,  5.97s/it]
 18%|█▊        | 163/900 [13:45<52:29,  4.27s/it]  
 18%|█▊        | 164/900 [13:46<37:51,  3.09s/it]
 18%|█▊        | 165/900 [13:46<27:45,  2.27s/it]
 18%|█▊        | 166/900 [13:46<20:41,  1.69s/it]
 19%|█▊        | 167/900 [13:47<15:44,  1.29s/it]
 19%|█▊        | 168/900 [13:47<12:13,  1.00s/it]
 19%|█▉        | 169/900 [14:12<1:39:21,  8.16s/it]
 19%|█▉        | 170/900 [14:12<1:10:42,  5.81s/it]
 19%|█▉        | 171/900 [14:13<50:40,  4.17s/it]  
 19%|█▉        | 172/900 [14:13<36:40,  3.02s/it]
 19%|█▉        | 173/900 [14:13<26:51,  2.22s/it]
 19%|█▉        | 174/900 [14:14<19:57,  1.65s/it]
 19%|█▉        | 175/900 [14:14<15:10,  1.26s/it]
 20%|█▉        | 176/900 [14:14<11:45,  1.03it/s]
 20%|█▉        | 177/900 [14:33<1:16:02,  6.31s/it]
 20%|█▉        | 178/900 [14:33<54:18,  4.51s/it]  
 20%|█▉        | 179/900 [14:34<39:06,  3.25s/it]
 20%|██        | 180/900 [14:34<28:27,  2.37s/it]
 20%|██        | 181/900 [14:34<21:01,  1.75s/it]
 20%|██        | 182/900 [14:35<15:48,  1.32s/it]
 20%|██        | 183/900 [14:35<12:11,  1.02s/it]
 20%|██        | 184/900 [14:35<09:38,  1.24it/s]
 21%|██        | 185/900 [15:13<2:21:44, 11.89s/it]
 21%|██        | 186/900 [15:13<1:40:13,  8.42s/it]
 21%|██        | 187/900 [15:14<1:11:11,  5.99s/it]
 21%|██        | 188/900 [15:14<50:55,  4.29s/it]  
 21%|██        | 189/900 [15:14<36:41,  3.10s/it]
 21%|██        | 190/900 [15:15<26:46,  2.26s/it]
 21%|██        | 191/900 [15:15<19:50,  1.68s/it]
 21%|██▏       | 192/900 [15:15<15:00,  1.27s/it]
 21%|██▏       | 193/900 [15:41<1:40:35,  8.54s/it]
 22%|██▏       | 194/900 [15:41<1:11:25,  6.07s/it]
 22%|██▏       | 195/900 [15:41<51:02,  4.34s/it]  
 22%|██▏       | 196/900 [15:42<36:48,  3.14s/it]
 22%|██▏       | 197/900 [15:42<26:49,  2.29s/it]
 22%|██▏       | 198/900 [15:42<19:50,  1.70s/it]
 22%|██▏       | 199/900 [15:43<14:56,  1.28s/it]
 22%|██▏       | 200/900 [15:43<11:30,  1.01it/s]
 22%|██▏       | 201/900 [16:21<2:20:22, 12.05s/it]
 22%|██▏       | 202/900 [16:21<1:39:15,  8.53s/it]
 23%|██▎       | 203/900 [16:21<1:10:26,  6.06s/it]
 23%|██▎       | 204/900 [16:22<50:19,  4.34s/it]  
 23%|██▎       | 205/900 [16:22<36:14,  3.13s/it]
 23%|██▎       | 206/900 [16:22<26:23,  2.28s/it]
 23%|██▎       | 207/900 [16:23<19:31,  1.69s/it]
 23%|██▎       | 208/900 [16:23<14:42,  1.28s/it]
 23%|██▎       | 209/900 [16:48<1:37:20,  8.45s/it]
 23%|██▎       | 210/900 [16:48<1:09:05,  6.01s/it]
 23%|██▎       | 211/900 [16:49<49:20,  4.30s/it]  
 24%|██▎       | 212/900 [16:49<35:32,  3.10s/it]
 24%|██▎       | 213/900 [16:49<25:54,  2.26s/it]
 24%|██▍       | 214/900 [16:50<19:13,  1.68s/it]
 24%|██▍       | 215/900 [16:50<14:30,  1.27s/it]
 24%|██▍       | 216/900 [16:50<11:12,  1.02it/s]
 24%|██▍       | 217/900 [17:45<3:15:21, 17.16s/it]
 24%|██▍       | 218/900 [17:46<2:17:36, 12.11s/it]
 24%|██▍       | 219/900 [17:46<1:37:13,  8.57s/it]
 24%|██▍       | 220/900 [17:46<1:08:59,  6.09s/it]
 25%|██▍       | 221/900 [17:47<49:16,  4.35s/it]  
 25%|██▍       | 222/900 [17:47<35:29,  3.14s/it]
 25%|██▍       | 223/900 [17:47<25:50,  2.29s/it]
 25%|██▍       | 224/900 [17:47<19:04,  1.69s/it]
 25%|██▌       | 225/900 [18:10<1:28:36,  7.88s/it]
 25%|██▌       | 226/900 [18:10<1:03:00,  5.61s/it]
 25%|██▌       | 227/900 [18:10<45:08,  4.02s/it]  
 25%|██▌       | 228/900 [18:11<32:37,  2.91s/it]
 25%|██▌       | 229/900 [18:11<23:56,  2.14s/it]
 26%|██▌       | 230/900 [18:11<17:48,  1.59s/it]
 26%|██▌       | 231/900 [18:12<13:33,  1.22s/it]
 26%|██▌       | 232/900 [18:12<10:32,  1.06it/s]
 26%|██▌       | 233/900 [19:14<3:32:48, 19.14s/it]
 26%|██▌       | 234/900 [19:14<2:29:49, 13.50s/it]
 26%|██▌       | 235/900 [19:14<1:45:49,  9.55s/it]
 26%|██▌       | 236/900 [19:15<1:15:07,  6.79s/it]
 26%|██▋       | 237/900 [19:15<53:34,  4.85s/it]  
 26%|██▋       | 238/900 [19:15<38:32,  3.49s/it]
 27%|██▋       | 239/900 [19:16<28:00,  2.54s/it]
 27%|██▋       | 240/900 [19:16<20:43,  1.88s/it]
 27%|██▋       | 241/900 [19:43<1:43:51,  9.46s/it]
 27%|██▋       | 242/900 [19:43<1:13:41,  6.72s/it]
 27%|██▋       | 243/900 [19:44<52:35,  4.80s/it]  
 27%|██▋       | 244/900 [19:44<37:50,  3.46s/it]
 27%|██▋       | 245/900 [19:44<27:33,  2.52s/it]
 27%|██▋       | 246/900 [19:45<20:23,  1.87s/it]
 27%|██▋       | 247/900 [19:45<15:19,  1.41s/it]
 28%|██▊       | 248/900 [19:45<11:48,  1.09s/it]
 28%|██▊       | 249/900 [20:06<1:14:17,  6.85s/it]
 28%|██▊       | 250/900 [20:06<53:00,  4.89s/it]  
 28%|██▊       | 251/900 [20:06<38:08,  3.53s/it]
 28%|██▊       | 252/900 [20:07<27:45,  2.57s/it]
 28%|██▊       | 253/900 [20:07<20:31,  1.90s/it]
 28%|██▊       | 254/900 [20:07<15:25,  1.43s/it]
 28%|██▊       | 255/900 [20:08<11:51,  1.10s/it]
 28%|██▊       | 256/900 [20:08<09:22,  1.15it/s]
 29%|██▊       | 257/900 [22:31<7:46:37, 43.54s/it]
 29%|██▊       | 258/900 [22:31<5:27:06, 30.57s/it]
 29%|██▉       | 259/900 [22:32<3:49:36, 21.49s/it]
 29%|██▉       | 260/900 [22:32<2:41:28, 15.14s/it]
 29%|██▉       | 261/900 [22:32<1:53:52, 10.69s/it]
 29%|██▉       | 262/900 [22:33<1:20:35,  7.58s/it]
 29%|██▉       | 263/900 [22:33<57:18,  5.40s/it]  
 29%|██▉       | 264/900 [22:33<41:02,  3.87s/it]
 29%|██▉       | 265/900 [23:49<4:30:15, 25.54s/it]
 30%|██▉       | 266/900 [23:50<3:09:51, 17.97s/it]
 30%|██▉       | 267/900 [23:50<2:13:41, 12.67s/it]
 30%|██▉       | 268/900 [23:50<1:34:23,  8.96s/it]
 30%|██▉       | 269/900 [23:51<1:06:55,  6.36s/it]
 30%|███       | 270/900 [23:51<47:43,  4.55s/it]  
 30%|███       | 271/900 [23:51<34:18,  3.27s/it]
 30%|███       | 272/900 [23:52<24:56,  2.38s/it]
 30%|███       | 273/900 [24:48<3:14:36, 18.62s/it]
 30%|███       | 274/900 [24:48<2:17:03, 13.14s/it]
 31%|███       | 275/900 [24:49<1:36:44,  9.29s/it]
 31%|███       | 276/900 [24:49<1:08:34,  6.59s/it]
 31%|███       | 277/900 [24:49<48:54,  4.71s/it]  
 31%|███       | 278/900 [24:50<35:11,  3.39s/it]
 31%|███       | 279/900 [24:50<25:37,  2.48s/it]
 31%|███       | 280/900 [24:50<18:53,  1.83s/it]
 31%|███       | 281/900 [25:27<2:06:12, 12.23s/it]
 31%|███▏      | 282/900 [25:27<1:29:13,  8.66s/it]
 31%|███▏      | 283/900 [25:27<1:03:19,  6.16s/it]
 32%|███▏      | 284/900 [25:28<45:13,  4.41s/it]  
 32%|███▏      | 285/900 [25:28<32:35,  3.18s/it]
 32%|███▏      | 286/900 [25:28<23:46,  2.32s/it]
 32%|███▏      | 287/900 [25:29<17:38,  1.73s/it]
 32%|███▏      | 288/900 [25:29<13:21,  1.31s/it]
 32%|███▏      | 289/900 [25:57<1:35:10,  9.35s/it]
 32%|███▏      | 290/900 [25:58<1:07:27,  6.64s/it]
 32%|███▏      | 291/900 [25:58<48:05,  4.74s/it]  
 32%|███▏      | 292/900 [25:58<34:31,  3.41s/it]
 33%|███▎      | 293/900 [25:58<25:03,  2.48s/it]
 33%|███▎      | 294/900 [25:59<18:27,  1.83s/it]
 33%|███▎      | 295/900 [25:59<13:50,  1.37s/it]
 33%|███▎      | 296/900 [25:59<10:37,  1.06s/it]
 33%|███▎      | 297/900 [26:28<1:33:43,  9.33s/it]
 33%|███▎      | 298/900 [26:28<1:06:26,  6.62s/it]
 33%|███▎      | 299/900 [26:29<47:21,  4.73s/it]  
 33%|███▎      | 300/900 [26:29<34:01,  3.40s/it]
 33%|███▎      | 301/900 [26:29<24:42,  2.47s/it]
 34%|███▎      | 302/900 [26:30<18:12,  1.83s/it]
 34%|███▎      | 303/900 [26:30<13:39,  1.37s/it]
 34%|███▍      | 304/900 [26:30<10:28,  1.05s/it]
 34%|███▍      | 305/900 [27:25<2:49:11, 17.06s/it]
 34%|███▍      | 306/900 [27:25<1:59:14, 12.05s/it]
 34%|███▍      | 307/900 [27:25<1:24:17,  8.53s/it]
 34%|███▍      | 308/900 [27:26<59:53,  6.07s/it]  
 34%|███▍      | 309/900 [27:26<42:49,  4.35s/it]
 34%|███▍      | 310/900 [27:26<30:55,  3.14s/it]
 35%|███▍      | 311/900 [27:27<22:35,  2.30s/it]
 35%|███▍      | 312/900 [27:27<16:44,  1.71s/it]
 35%|███▍      | 313/900 [27:57<1:38:43, 10.09s/it]
 35%|███▍      | 314/900 [27:57<1:09:55,  7.16s/it]
 35%|███▌      | 315/900 [27:57<49:47,  5.11s/it]  
 35%|███▌      | 316/900 [27:58<35:42,  3.67s/it]
 35%|███▌      | 317/900 [27:58<25:51,  2.66s/it]
 35%|███▌      | 318/900 [27:58<18:58,  1.96s/it]
 35%|███▌      | 319/900 [27:58<14:10,  1.46s/it]
 36%|███▌      | 320/900 [27:59<10:48,  1.12s/it]
 36%|███▌      | 321/900 [29:29<4:28:11, 27.79s/it]
 36%|███▌      | 322/900 [29:29<3:08:21, 19.55s/it]
 36%|███▌      | 323/900 [29:29<2:12:34, 13.79s/it]
 36%|███▌      | 324/900 [29:30<1:33:30,  9.74s/it]
 36%|███▌      | 325/900 [29:30<1:06:17,  6.92s/it]
 36%|███▌      | 326/900 [29:30<47:14,  4.94s/it]  
 36%|███▋      | 327/900 [29:31<33:59,  3.56s/it]
 36%|███▋      | 328/900 [29:31<24:43,  2.59s/it]
 37%|███▋      | 329/900 [30:11<2:12:39, 13.94s/it]
 37%|███▋      | 330/900 [30:12<1:33:39,  9.86s/it]
 37%|███▋      | 331/900 [30:12<1:06:24,  7.00s/it]
 37%|███▋      | 332/900 [30:13<47:22,  5.00s/it]  
 37%|███▋      | 333/900 [30:13<34:01,  3.60s/it]
 37%|███▋      | 334/900 [30:13<24:42,  2.62s/it]
 37%|███▋      | 335/900 [30:14<18:15,  1.94s/it]
 37%|███▋      | 336/900 [30:14<13:44,  1.46s/it]
 37%|███▋      | 337/900 [31:31<3:46:41, 24.16s/it]
 38%|███▊      | 338/900 [31:31<2:39:20, 17.01s/it]
 38%|███▊      | 339/900 [31:32<1:52:16, 12.01s/it]
 38%|███▊      | 340/900 [31:32<1:19:23,  8.51s/it]
 38%|███▊      | 341/900 [31:32<56:24,  6.05s/it]  
 38%|███▊      | 342/900 [31:33<40:19,  4.34s/it]
 38%|███▊      | 343/900 [31:33<29:04,  3.13s/it]
 38%|███▊      | 344/900 [31:33<21:13,  2.29s/it]
 38%|███▊      | 345/900 [32:29<2:48:12, 18.18s/it]
 38%|███▊      | 346/900 [32:29<1:58:26, 12.83s/it]
 39%|███▊      | 347/900 [32:29<1:23:40,  9.08s/it]
 39%|███▊      | 348/900 [32:30<59:22,  6.45s/it]  
 39%|███▉      | 349/900 [32:30<42:25,  4.62s/it]
 39%|███▉      | 350/900 [32:30<30:31,  3.33s/it]
 39%|███▉      | 351/900 [32:31<22:09,  2.42s/it]
 39%|███▉      | 352/900 [32:31<16:19,  1.79s/it]
 39%|███▉      | 353/900 [34:08<4:37:55, 30.49s/it]
 39%|███▉      | 354/900 [34:09<3:15:05, 21.44s/it]
 39%|███▉      | 355/900 [34:09<2:17:08, 15.10s/it]
 40%|███▉      | 356/900 [34:09<1:36:39, 10.66s/it]
 40%|███▉      | 357/900 [34:10<1:08:22,  7.55s/it]
 40%|███▉      | 358/900 [34:10<48:41,  5.39s/it]  
 40%|███▉      | 359/900 [34:10<34:55,  3.87s/it]
 40%|████      | 360/900 [34:11<25:15,  2.81s/it]
 40%|████      | 361/900 [35:52<4:50:58, 32.39s/it]
 40%|████      | 362/900 [35:52<3:24:07, 22.77s/it]
 40%|████      | 363/900 [35:53<2:23:28, 16.03s/it]
 40%|████      | 364/900 [35:53<1:41:07, 11.32s/it]
 41%|████      | 365/900 [35:53<1:11:32,  8.02s/it]
 41%|████      | 366/900 [35:54<50:50,  5.71s/it]  
 41%|████      | 367/900 [35:54<36:23,  4.10s/it]
 41%|████      | 368/900 [35:54<26:17,  2.96s/it]
 41%|████      | 369/900 [37:21<4:09:11, 28.16s/it]
 41%|████      | 370/900 [37:21<2:54:57, 19.81s/it]
 41%|████      | 371/900 [37:22<2:03:05, 13.96s/it]
 41%|████▏     | 372/900 [37:22<1:26:51,  9.87s/it]
 41%|████▏     | 373/900 [37:22<1:01:31,  7.01s/it]
 42%|████▏     | 374/900 [37:23<43:50,  5.00s/it]  
 42%|████▏     | 375/900 [37:23<31:27,  3.60s/it]
 42%|████▏     | 376/900 [37:23<22:49,  2.61s/it]
 42%|████▏     | 377/900 [38:14<2:28:50, 17.08s/it]
 42%|████▏     | 378/900 [38:15<1:44:50, 12.05s/it]
 42%|████▏     | 379/900 [38:15<1:14:02,  8.53s/it]
 42%|████▏     | 380/900 [38:15<52:32,  6.06s/it]  
 42%|████▏     | 381/900 [38:15<37:30,  4.34s/it]
 42%|████▏     | 382/900 [38:16<27:01,  3.13s/it]
 43%|████▎     | 383/900 [38:16<19:39,  2.28s/it]
 43%|████▎     | 384/900 [38:16<14:31,  1.69s/it]
 43%|████▎     | 385/900 [38:51<1:38:03, 11.42s/it]
 43%|████▎     | 386/900 [38:51<1:09:19,  8.09s/it]
 43%|████▎     | 387/900 [38:51<49:17,  5.76s/it]  
 43%|████▎     | 388/900 [38:51<35:15,  4.13s/it]
 43%|████▎     | 389/900 [38:52<25:27,  2.99s/it]
 43%|████▎     | 390/900 [38:52<18:37,  2.19s/it]
 43%|████▎     | 391/900 [38:52<13:51,  1.63s/it]
 44%|████▎     | 392/900 [38:53<10:30,  1.24s/it]
 44%|████▎     | 393/900 [40:42<4:43:35, 33.56s/it]
 44%|████▍     | 394/900 [40:42<3:18:58, 23.59s/it]
 44%|████▍     | 395/900 [40:42<2:19:50, 16.61s/it]
 44%|████▍     | 396/900 [40:43<1:38:30, 11.73s/it]
 44%|████▍     | 397/900 [40:43<1:09:39,  8.31s/it]
 44%|████▍     | 398/900 [40:43<49:29,  5.92s/it]  
 44%|████▍     | 399/900 [40:44<35:22,  4.24s/it]
 44%|████▍     | 400/900 [40:44<25:32,  3.06s/it]
 45%|████▍     | 401/900 [41:38<2:33:28, 18.45s/it]
 45%|████▍     | 402/900 [41:39<1:48:03, 13.02s/it]
 45%|████▍     | 403/900 [41:39<1:16:18,  9.21s/it]
 45%|████▍     | 404/900 [41:39<54:07,  6.55s/it]  
 45%|████▌     | 405/900 [41:40<38:40,  4.69s/it]
 45%|████▌     | 406/900 [41:40<27:53,  3.39s/it]
 45%|████▌     | 407/900 [41:40<20:21,  2.48s/it]
 45%|████▌     | 408/900 [41:41<15:01,  1.83s/it]
 45%|████▌     | 409/900 [42:50<3:01:26, 22.17s/it]
 46%|████▌     | 410/900 [42:51<2:07:33, 15.62s/it]
 46%|████▌     | 411/900 [42:51<1:29:54, 11.03s/it]
 46%|████▌     | 412/900 [42:51<1:03:35,  7.82s/it]
 46%|████▌     | 413/900 [42:52<45:10,  5.57s/it]  
 46%|████▌     | 414/900 [42:52<32:19,  3.99s/it]
 46%|████▌     | 415/900 [42:52<23:20,  2.89s/it]
 46%|████▌     | 416/900 [42:53<17:02,  2.11s/it]
 46%|████▋     | 417/900 [43:30<1:41:24, 12.60s/it]
 46%|████▋     | 418/900 [43:30<1:11:35,  8.91s/it]
 47%|████▋     | 419/900 [43:30<50:45,  6.33s/it]  
 47%|████▋     | 420/900 [43:31<36:11,  4.52s/it]
 47%|████▋     | 421/900 [43:31<26:01,  3.26s/it]
 47%|████▋     | 422/900 [43:31<18:55,  2.38s/it]
 47%|████▋     | 423/900 [43:32<13:57,  1.76s/it]
 47%|████▋     | 424/900 [43:32<10:30,  1.32s/it]
 47%|████▋     | 425/900 [44:07<1:29:57, 11.36s/it]
 47%|████▋     | 426/900 [44:07<1:03:34,  8.05s/it]
 47%|████▋     | 427/900 [44:07<45:08,  5.73s/it]  
 48%|████▊     | 428/900 [44:08<32:15,  4.10s/it]
 48%|████▊     | 429/900 [44:08<23:16,  2.96s/it]
 48%|████▊     | 430/900 [44:08<17:01,  2.17s/it]
 48%|████▊     | 431/900 [44:09<12:39,  1.62s/it]
 48%|████▊     | 432/900 [44:09<09:35,  1.23s/it]
 48%|████▊     | 433/900 [44:50<1:42:26, 13.16s/it]
 48%|████▊     | 434/900 [44:50<1:12:18,  9.31s/it]
 48%|████▊     | 435/900 [44:51<51:15,  6.61s/it]  
 48%|████▊     | 436/900 [44:51<36:33,  4.73s/it]
 49%|████▊     | 437/900 [44:51<26:18,  3.41s/it]
 49%|████▊     | 438/900 [44:52<19:06,  2.48s/it]
 49%|████▉     | 439/900 [44:52<14:05,  1.83s/it]
 49%|████▉     | 440/900 [44:52<10:34,  1.38s/it]
 49%|████▉     | 441/900 [45:40<1:56:41, 15.25s/it]
 49%|████▉     | 442/900 [45:40<1:22:14, 10.77s/it]
 49%|████▉     | 443/900 [45:40<58:08,  7.63s/it]  
 49%|████▉     | 444/900 [45:41<41:20,  5.44s/it]
 49%|████▉     | 445/900 [45:41<29:37,  3.91s/it]
 50%|████▉     | 446/900 [45:41<21:25,  2.83s/it]
 50%|████▉     | 447/900 [45:42<15:40,  2.08s/it]
 50%|████▉     | 448/900 [45:42<11:39,  1.55s/it]
 50%|████▉     | 449/900 [46:17<1:27:54, 11.69s/it]
 50%|█████     | 450/900 [46:18<1:02:09,  8.29s/it]
 50%|█████     | 451/900 [46:18<44:07,  5.90s/it]  
 50%|█████     | 452/900 [46:18<31:33,  4.23s/it]
 50%|█████     | 453/900 [46:19<22:46,  3.06s/it]
 50%|█████     | 454/900 [46:19<16:39,  2.24s/it]
 51%|█████     | 455/900 [46:19<12:26,  1.68s/it]
 51%|█████     | 456/900 [46:20<09:28,  1.28s/it]
 51%|█████     | 457/900 [47:06<1:49:16, 14.80s/it]
 51%|█████     | 458/900 [47:06<1:17:01, 10.46s/it]
 51%|█████     | 459/900 [47:07<54:29,  7.41s/it]  
 51%|█████     | 460/900 [47:07<38:45,  5.29s/it]
 51%|█████     | 461/900 [47:07<27:46,  3.80s/it]
 51%|█████▏    | 462/900 [47:08<20:05,  2.75s/it]
 51%|█████▏    | 463/900 [47:08<14:42,  2.02s/it]
 52%|█████▏    | 464/900 [47:08<10:57,  1.51s/it]
 52%|█████▏    | 465/900 [48:11<2:24:38, 19.95s/it]
 52%|█████▏    | 466/900 [48:12<1:41:41, 14.06s/it]
 52%|█████▏    | 467/900 [48:12<1:11:40,  9.93s/it]
 52%|█████▏    | 468/900 [48:12<50:42,  7.04s/it]  
 52%|█████▏    | 469/900 [48:13<36:04,  5.02s/it]
 52%|█████▏    | 470/900 [48:13<25:50,  3.61s/it]
 52%|█████▏    | 471/900 [48:13<18:41,  2.61s/it]
 52%|█████▏    | 472/900 [48:13<13:42,  1.92s/it]
 53%|█████▎    | 473/900 [49:33<3:00:06, 25.31s/it]
 53%|█████▎    | 474/900 [49:34<2:06:26, 17.81s/it]
 53%|█████▎    | 475/900 [49:34<1:28:58, 12.56s/it]
 53%|█████▎    | 476/900 [49:34<1:02:47,  8.89s/it]
 53%|█████▎    | 477/900 [49:35<44:30,  6.31s/it]  
 53%|█████▎    | 478/900 [49:35<31:43,  4.51s/it]
 53%|█████▎    | 479/900 [49:35<22:48,  3.25s/it]
 53%|█████▎    | 480/900 [49:35<16:34,  2.37s/it]
 53%|█████▎    | 481/900 [50:55<2:57:13, 25.38s/it]
 54%|█████▎    | 482/900 [50:55<2:04:24, 17.86s/it]
 54%|█████▎    | 483/900 [50:55<1:27:30, 12.59s/it]
 54%|█████▍    | 484/900 [50:55<1:01:45,  8.91s/it]
 54%|█████▍    | 485/900 [50:56<43:46,  6.33s/it]  
 54%|█████▍    | 486/900 [50:56<31:14,  4.53s/it]
 54%|█████▍    | 487/900 [50:56<22:29,  3.27s/it]
 54%|█████▍    | 488/900 [50:57<16:23,  2.39s/it]
 54%|█████▍    | 489/900 [53:43<5:52:30, 51.46s/it]
 54%|█████▍    | 490/900 [53:43<4:06:50, 36.12s/it]
 55%|█████▍    | 491/900 [53:43<2:53:01, 25.38s/it]
 55%|█████▍    | 492/900 [53:44<2:01:28, 17.86s/it]
 55%|█████▍    | 493/900 [53:44<1:25:29, 12.60s/it]
 55%|█████▍    | 494/900 [53:44<1:00:20,  8.92s/it]
 55%|█████▌    | 495/900 [53:45<42:47,  6.34s/it]  
 55%|█████▌    | 496/900 [53:45<30:32,  4.53s/it]
 55%|█████▌    | 497/900 [57:10<7:14:44, 64.73s/it]
 55%|█████▌    | 498/900 [57:11<5:04:13, 45.41s/it]
 55%|█████▌    | 499/900 [57:11<3:33:04, 31.88s/it]
 56%|█████▌    | 500/900 [57:12<2:30:22, 22.56s/it]
 56%|█████▌    | 501/900 [57:12<1:45:38, 15.89s/it]
 56%|█████▌    | 502/900 [57:12<1:14:25, 11.22s/it]
 56%|█████▌    | 503/900 [57:13<52:36,  7.95s/it]  
 56%|█████▌    | 504/900 [57:13<37:22,  5.66s/it]
 56%|█████▌    | 505/900 [57:49<1:37:25, 14.80s/it]
 56%|█████▌    | 506/900 [57:49<1:08:38, 10.45s/it]
 56%|█████▋    | 507/900 [57:50<48:32,  7.41s/it]  
 56%|█████▋    | 508/900 [57:50<34:30,  5.28s/it]
 57%|█████▋    | 509/900 [57:50<24:41,  3.79s/it]
 57%|█████▋    | 510/900 [57:51<17:50,  2.74s/it]
 57%|█████▋    | 511/900 [57:51<13:02,  2.01s/it]
 57%|█████▋    | 512/900 [57:51<09:42,  1.50s/it]
 57%|█████▋    | 513/900 [58:55<2:10:45, 20.27s/it]
 57%|█████▋    | 514/900 [58:56<1:31:52, 14.28s/it]
 57%|█████▋    | 515/900 [58:56<1:04:43, 10.09s/it]
 57%|█████▋    | 516/900 [58:56<45:46,  7.15s/it]  
 57%|█████▋    | 517/900 [58:57<32:33,  5.10s/it]
 58%|█████▊    | 518/900 [58:57<23:18,  3.66s/it]
 58%|█████▊    | 519/900 [58:57<16:52,  2.66s/it]
 58%|█████▊    | 520/900 [58:57<12:23,  1.96s/it]
 58%|█████▊    | 521/900 [1:00:04<2:14:14, 21.25s/it]
 58%|█████▊    | 522/900 [1:00:04<1:34:17, 14.97s/it]
 58%|█████▊    | 523/900 [1:00:04<1:06:25, 10.57s/it]
 58%|█████▊    | 524/900 [1:00:05<46:57,  7.49s/it]  
 58%|█████▊    | 525/900 [1:00:05<33:22,  5.34s/it]
 58%|█████▊    | 526/900 [1:00:05<23:53,  3.83s/it]
 59%|█████▊    | 527/900 [1:00:06<17:16,  2.78s/it]
 59%|█████▊    | 528/900 [1:00:06<12:38,  2.04s/it]
 59%|█████▉    | 529/900 [1:01:06<2:00:05, 19.42s/it]
 59%|█████▉    | 530/900 [1:01:06<1:24:25, 13.69s/it]
 59%|█████▉    | 531/900 [1:01:07<59:29,  9.67s/it]  
 59%|█████▉    | 532/900 [1:01:07<42:06,  6.87s/it]
 59%|█████▉    | 533/900 [1:01:07<29:57,  4.90s/it]
 59%|█████▉    | 534/900 [1:01:07<21:28,  3.52s/it]
 59%|█████▉    | 535/900 [1:01:08<15:33,  2.56s/it]
 60%|█████▉    | 536/900 [1:01:08<11:25,  1.88s/it]
 60%|█████▉    | 537/900 [1:04:35<6:24:01, 63.48s/it]
 60%|█████▉    | 538/900 [1:04:36<4:28:38, 44.53s/it]
 60%|█████▉    | 539/900 [1:04:36<3:08:06, 31.26s/it]
 60%|██████    | 540/900 [1:04:36<2:11:54, 21.99s/it]
 60%|██████    | 541/900 [1:04:37<1:32:43, 15.50s/it]
 60%|██████    | 542/900 [1:04:37<1:05:18, 10.95s/it]
 60%|██████    | 543/900 [1:04:37<46:10,  7.76s/it]  
 60%|██████    | 544/900 [1:04:38<32:49,  5.53s/it]
 61%|██████    | 545/900 [1:05:47<2:26:15, 24.72s/it]
 61%|██████    | 546/900 [1:05:47<1:42:40, 17.40s/it]
 61%|██████    | 547/900 [1:05:48<1:12:15, 12.28s/it]
 61%|██████    | 548/900 [1:05:48<51:01,  8.70s/it]  
 61%|██████    | 549/900 [1:05:48<36:12,  6.19s/it]
 61%|██████    | 550/900 [1:05:49<25:51,  4.43s/it]
 61%|██████    | 551/900 [1:05:49<18:38,  3.20s/it]
 61%|██████▏   | 552/900 [1:05:49<13:32,  2.34s/it]
 61%|██████▏   | 553/900 [1:07:31<3:05:42, 32.11s/it]
 62%|██████▏   | 554/900 [1:07:31<2:10:10, 22.57s/it]
 62%|██████▏   | 555/900 [1:07:32<1:31:23, 15.89s/it]
 62%|██████▏   | 556/900 [1:07:32<1:04:19, 11.22s/it]
 62%|██████▏   | 557/900 [1:07:32<45:25,  7.95s/it]  
 62%|██████▏   | 558/900 [1:07:33<32:13,  5.65s/it]
 62%|██████▏   | 559/900 [1:07:33<23:01,  4.05s/it]
 62%|██████▏   | 560/900 [1:07:33<16:35,  2.93s/it]
 62%|██████▏   | 561/900 [1:08:32<1:50:32, 19.56s/it]
 62%|██████▏   | 562/900 [1:08:32<1:17:39, 13.79s/it]
 63%|██████▎   | 563/900 [1:08:32<54:42,  9.74s/it]  
 63%|██████▎   | 564/900 [1:08:32<38:42,  6.91s/it]
 63%|██████▎   | 565/900 [1:08:33<27:33,  4.94s/it]
 63%|██████▎   | 566/900 [1:08:33<19:47,  3.55s/it]
 63%|██████▎   | 567/900 [1:08:33<14:21,  2.59s/it]
 63%|██████▎   | 568/900 [1:08:34<10:34,  1.91s/it]
 63%|██████▎   | 569/900 [1:09:34<1:47:24, 19.47s/it]
 63%|██████▎   | 570/900 [1:09:35<1:15:31, 13.73s/it]
 63%|██████▎   | 571/900 [1:09:35<53:15,  9.71s/it]  
 64%|██████▎   | 572/900 [1:09:35<37:42,  6.90s/it]
 64%|██████▎   | 573/900 [1:09:36<26:51,  4.93s/it]
 64%|██████▍   | 574/900 [1:09:36<19:16,  3.55s/it]
 64%|██████▍   | 575/900 [1:09:36<13:59,  2.58s/it]
 64%|██████▍   | 576/900 [1:09:37<10:18,  1.91s/it]
 64%|██████▍   | 577/900 [1:10:21<1:18:46, 14.63s/it]
 64%|██████▍   | 578/900 [1:10:21<55:30, 10.34s/it]  
 64%|██████▍   | 579/900 [1:10:21<39:13,  7.33s/it]
 64%|██████▍   | 580/900 [1:10:22<27:52,  5.23s/it]
 65%|██████▍   | 581/900 [1:10:22<19:56,  3.75s/it]
 65%|██████▍   | 582/900 [1:10:22<14:23,  2.72s/it]
 65%|██████▍   | 583/900 [1:10:23<10:31,  1.99s/it]
 65%|██████▍   | 584/900 [1:10:23<07:49,  1.49s/it]
 65%|██████▌   | 585/900 [1:12:45<3:49:27, 43.71s/it]
 65%|██████▌   | 586/900 [1:12:46<2:40:34, 30.68s/it]
 65%|██████▌   | 587/900 [1:12:46<1:52:32, 21.57s/it]
 65%|██████▌   | 588/900 [1:12:46<1:19:00, 15.19s/it]
 65%|██████▌   | 589/900 [1:12:46<55:36, 10.73s/it]  
 66%|██████▌   | 590/900 [1:12:47<39:17,  7.60s/it]
 66%|██████▌   | 591/900 [1:12:47<27:53,  5.42s/it]
 66%|██████▌   | 592/900 [1:12:47<19:59,  3.89s/it]
 66%|██████▌   | 593/900 [1:14:00<2:05:20, 24.50s/it]
 66%|██████▌   | 594/900 [1:14:00<1:28:00, 17.26s/it]
 66%|██████▌   | 595/900 [1:14:01<1:01:56, 12.19s/it]
 66%|██████▌   | 596/900 [1:14:01<43:44,  8.63s/it]  
 66%|██████▋   | 597/900 [1:14:01<31:02,  6.15s/it]
 66%|██████▋   | 598/900 [1:14:02<22:10,  4.41s/it]
 67%|██████▋   | 599/900 [1:14:02<15:57,  3.18s/it]
 67%|██████▋   | 600/900 [1:14:02<11:37,  2.33s/it]
 67%|██████▋   | 601/900 [1:15:30<2:18:53, 27.87s/it]
 67%|██████▋   | 602/900 [1:15:30<1:37:23, 19.61s/it]
 67%|██████▋   | 603/900 [1:15:31<1:08:25, 13.82s/it]
 67%|██████▋   | 604/900 [1:15:31<48:11,  9.77s/it]  
 67%|██████▋   | 605/900 [1:15:31<34:04,  6.93s/it]
 67%|██████▋   | 606/900 [1:15:31<24:14,  4.95s/it]
 67%|██████▋   | 607/900 [1:15:32<17:23,  3.56s/it]
 68%|██████▊   | 608/900 [1:15:32<12:36,  2.59s/it]
 68%|██████▊   | 609/900 [1:16:20<1:17:57, 16.07s/it]
 68%|██████▊   | 610/900 [1:16:20<54:51, 11.35s/it]  
 68%|██████▊   | 611/900 [1:16:20<38:44,  8.04s/it]
 68%|██████▊   | 612/900 [1:16:21<27:29,  5.73s/it]
 68%|██████▊   | 613/900 [1:16:21<19:38,  4.11s/it]
 68%|██████▊   | 614/900 [1:16:21<14:09,  2.97s/it]
 68%|██████▊   | 615/900 [1:16:22<10:20,  2.18s/it]
 68%|██████▊   | 616/900 [1:16:22<07:40,  1.62s/it]
 69%|██████▊   | 617/900 [1:18:19<2:51:04, 36.27s/it]
 69%|██████▊   | 618/900 [1:18:19<1:59:47, 25.49s/it]
 69%|██████▉   | 619/900 [1:18:20<1:23:59, 17.94s/it]
 69%|██████▉   | 620/900 [1:18:20<59:00, 12.65s/it]  
 69%|██████▉   | 621/900 [1:18:20<41:34,  8.94s/it]
 69%|██████▉   | 622/900 [1:18:21<29:25,  6.35s/it]
 69%|██████▉   | 623/900 [1:18:21<20:56,  4.54s/it]
 69%|██████▉   | 624/900 [1:18:21<15:01,  3.27s/it]
 69%|██████▉   | 625/900 [1:20:42<3:24:15, 44.57s/it]
 70%|██████▉   | 626/900 [1:20:42<2:22:53, 31.29s/it]
 70%|██████▉   | 627/900 [1:20:43<1:40:04, 21.99s/it]
 70%|██████▉   | 628/900 [1:20:43<1:10:12, 15.49s/it]
 70%|██████▉   | 629/900 [1:20:43<49:23, 10.93s/it]  
 70%|███████   | 630/900 [1:20:44<34:51,  7.75s/it]
 70%|███████   | 631/900 [1:20:44<24:42,  5.51s/it]
 70%|███████   | 632/900 [1:20:44<17:38,  3.95s/it]
 70%|███████   | 633/900 [1:24:50<5:40:08, 76.44s/it]
 70%|███████   | 634/900 [1:24:50<3:57:37, 53.60s/it]
 71%|███████   | 635/900 [1:24:50<2:46:06, 37.61s/it]
 71%|███████   | 636/900 [1:24:51<1:56:14, 26.42s/it]
 71%|███████   | 637/900 [1:24:51<1:21:27, 18.58s/it]
 71%|███████   | 638/900 [1:24:51<57:12, 13.10s/it]  
 71%|███████   | 639/900 [1:24:52<40:21,  9.28s/it]
 71%|███████   | 640/900 [1:24:52<28:36,  6.60s/it]
 71%|███████   | 641/900 [1:26:13<2:04:35, 28.86s/it]
 71%|███████▏  | 642/900 [1:26:13<1:27:18, 20.30s/it]
 71%|███████▏  | 643/900 [1:26:14<1:01:18, 14.31s/it]
 72%|███████▏  | 644/900 [1:26:14<43:10, 10.12s/it]  
 72%|███████▏  | 645/900 [1:26:14<30:32,  7.19s/it]
 72%|███████▏  | 646/900 [1:26:15<21:43,  5.13s/it]
 72%|███████▏  | 647/900 [1:26:15<15:34,  3.69s/it]
 72%|███████▏  | 648/900 [1:26:15<11:17,  2.69s/it]
 72%|███████▏  | 649/900 [1:42:48<20:53:12, 299.57s/it]
 72%|███████▏  | 650/900 [1:42:48<14:34:08, 209.79s/it]
 72%|███████▏  | 651/900 [1:42:48<10:09:49, 146.95s/it]
 72%|███████▏  | 652/900 [1:42:48<7:05:32, 102.95s/it] 
 73%|███████▎  | 653/900 [1:42:49<4:57:03, 72.16s/it] 
 73%|███████▎  | 654/900 [1:42:49<3:27:27, 50.60s/it]
 73%|███████▎  | 655/900 [1:42:49<2:25:00, 35.51s/it]
 73%|███████▎  | 656/900 [1:42:50<1:41:27, 24.95s/it]
 73%|███████▎  | 657/900 [1:43:49<2:22:19, 35.14s/it]
 73%|███████▎  | 658/900 [1:43:49<1:39:35, 24.69s/it]
 73%|███████▎  | 659/900 [1:43:49<1:09:47, 17.38s/it]
 73%|███████▎  | 660/900 [1:43:50<49:01, 12.26s/it]  
 73%|███████▎  | 661/900 [1:43:50<34:32,  8.67s/it]
 74%|███████▎  | 662/900 [1:43:50<24:26,  6.16s/it]
 74%|███████▎  | 663/900 [1:43:50<17:23,  4.40s/it]
 74%|███████▍  | 664/900 [1:43:51<12:31,  3.18s/it]
 74%|███████▍  | 665/900 [1:57:08<15:45:35, 241.43s/it]
 74%|███████▍  | 666/900 [1:57:08<10:59:29, 169.10s/it]
 74%|███████▍  | 667/900 [1:57:09<7:40:03, 118.47s/it] 
 74%|███████▍  | 668/900 [1:57:09<5:21:02, 83.03s/it] 
 74%|███████▍  | 669/900 [1:57:09<3:44:07, 58.22s/it]
 74%|███████▍  | 670/900 [1:57:10<2:36:35, 40.85s/it]
 75%|███████▍  | 671/900 [1:57:10<1:49:30, 28.69s/it]
 75%|███████▍  | 672/900 [1:57:10<1:16:41, 20.18s/it]
 75%|███████▍  | 673/900 [1:58:06<1:56:11, 30.71s/it]
 75%|███████▍  | 674/900 [1:58:06<1:21:20, 21.60s/it]
 75%|███████▌  | 675/900 [1:58:06<57:03, 15.21s/it]  
 75%|███████▌  | 676/900 [1:58:07<40:07, 10.75s/it]
 75%|███████▌  | 677/900 [1:58:07<28:19,  7.62s/it]
 75%|███████▌  | 678/900 [1:58:07<20:05,  5.43s/it]
 75%|███████▌  | 679/900 [1:58:08<14:21,  3.90s/it]
 76%|███████▌  | 680/900 [1:58:08<10:21,  2.83s/it]
 76%|███████▌  | 681/900 [1:58:54<57:19, 15.71s/it]
 76%|███████▌  | 682/900 [1:58:54<40:18, 11.10s/it]
 76%|███████▌  | 683/900 [1:58:54<28:27,  7.87s/it]
 76%|███████▌  | 684/900 [1:58:55<20:11,  5.61s/it]
 76%|███████▌  | 685/900 [1:58:55<14:25,  4.03s/it]
 76%|███████▌  | 686/900 [1:58:55<10:24,  2.92s/it]
 76%|███████▋  | 687/900 [1:58:56<07:36,  2.14s/it]
 76%|███████▋  | 688/900 [1:58:56<05:37,  1.59s/it]
 77%|███████▋  | 689/900 [2:00:02<1:13:39, 20.94s/it]
 77%|███████▋  | 690/900 [2:00:02<51:38, 14.75s/it]  
 77%|███████▋  | 691/900 [2:00:03<36:17, 10.42s/it]
 77%|███████▋  | 692/900 [2:00:03<25:35,  7.38s/it]
 77%|███████▋  | 693/900 [2:00:03<18:08,  5.26s/it]
 77%|███████▋  | 694/900 [2:00:04<12:57,  3.77s/it]
 77%|███████▋  | 695/900 [2:00:04<09:20,  2.73s/it]
 77%|███████▋  | 696/900 [2:00:04<06:49,  2.01s/it]
 77%|███████▋  | 697/900 [2:01:03<1:03:54, 18.89s/it]
 78%|███████▊  | 698/900 [2:01:03<44:49, 13.32s/it]  
 78%|███████▊  | 698/900 [2:01:03<35:02, 10.41s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json.
+ReorientRedMugTask_0 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 699, duration: 46.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.499752570328477, 'joint_sparc_mean': -13.807838534219186, 'ee_isj': 6391.960975365768, 'joint_isj': 493742.96517296054, 'ee_path_length': 6.994417747350256, 'joint_rmse_mean': 1.5098693389478395, 'ee_speed_max': 0.97319096326828, 'ee_speed_mean': 0.1375986635684967}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 13, 'OBJECT_BUMPED': 5, 'GRIPPER_FULLY_CLOSED': 11, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 7052.941, 'policy_inference_avg_ms': 10090.0, 'env_step_s': 205.032, 'env_step_avg_ms': 293.3, 'video_write_s': 5.424, 'video_write_avg_ms': 7.8, 'wall_total_s': 7263.397, 'it_per_sec': 0.1}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 3828c06ede6c4c8ea33b92b9a94b31ec-0
+[RoboLab] Running ReorientRedMugTask_1: 'Put the red mug upright so that the opening is facing upwards.' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:50<12:41:33, 50.83s/it]
  0%|          | 2/900 [00:51<5:15:58, 21.11s/it] 
  0%|          | 3/900 [00:51<2:53:32, 11.61s/it]
  0%|          | 4/900 [00:51<1:46:41,  7.14s/it]
  1%|          | 5/900 [00:52<1:09:45,  4.68s/it]
  1%|          | 6/900 [00:52<47:31,  3.19s/it]  
  1%|          | 7/900 [00:52<33:24,  2.24s/it]
  1%|          | 8/900 [00:52<24:09,  1.63s/it]
  1%|          | 9/900 [01:21<2:27:30,  9.93s/it]
  1%|          | 10/900 [01:21<1:43:15,  6.96s/it]
  1%|          | 11/900 [01:21<1:12:59,  4.93s/it]
  1%|▏         | 12/900 [01:22<52:07,  3.52s/it]  
  1%|▏         | 13/900 [01:22<37:40,  2.55s/it]
  2%|▏         | 14/900 [01:22<27:37,  1.87s/it]
  2%|▏         | 15/900 [01:22<20:36,  1.40s/it]
  2%|▏         | 16/900 [01:23<15:43,  1.07s/it]
  2%|▏         | 17/900 [01:48<2:03:55,  8.42s/it]
  2%|▏         | 18/900 [01:49<1:27:54,  5.98s/it]
  2%|▏         | 19/900 [01:49<1:02:44,  4.27s/it]
  2%|▏         | 20/900 [01:49<45:09,  3.08s/it]  
  2%|▏         | 21/900 [01:49<32:53,  2.25s/it]
  2%|▏         | 22/900 [01:50<24:17,  1.66s/it]
  3%|▎         | 23/900 [01:50<18:21,  1.26s/it]
  3%|▎         | 24/900 [01:50<14:13,  1.03it/s]
  3%|▎         | 25/900 [02:03<1:03:58,  4.39s/it]
  3%|▎         | 26/900 [02:03<46:07,  3.17s/it]  
  3%|▎         | 27/900 [02:03<33:36,  2.31s/it]
  3%|▎         | 28/900 [02:04<24:53,  1.71s/it]
  3%|▎         | 29/900 [02:04<18:46,  1.29s/it]
  3%|▎         | 30/900 [02:04<14:30,  1.00s/it]
  3%|▎         | 31/900 [02:05<11:33,  1.25it/s]
  4%|▎         | 32/900 [02:05<09:28,  1.53it/s]
  4%|▎         | 33/900 [02:27<1:42:28,  7.09s/it]
  4%|▍         | 34/900 [02:27<1:13:01,  5.06s/it]
  4%|▍         | 35/900 [02:28<52:27,  3.64s/it]  
  4%|▍         | 36/900 [02:28<38:07,  2.65s/it]
  4%|▍         | 37/900 [02:28<28:10,  1.96s/it]
  4%|▍         | 38/900 [02:29<21:12,  1.48s/it]
  4%|▍         | 39/900 [02:29<16:24,  1.14s/it]
  4%|▍         | 40/900 [02:29<12:49,  1.12it/s]
  5%|▍         | 41/900 [02:57<2:08:30,  8.98s/it]
  5%|▍         | 42/900 [02:58<1:31:14,  6.38s/it]
  5%|▍         | 43/900 [02:58<1:05:09,  4.56s/it]
  5%|▍         | 44/900 [02:58<46:55,  3.29s/it]  
  5%|▌         | 45/900 [02:59<34:10,  2.40s/it]
  5%|▌         | 46/900 [02:59<25:15,  1.77s/it]
  5%|▌         | 47/900 [02:59<19:00,  1.34s/it]
  5%|▌         | 48/900 [03:00<14:41,  1.03s/it]
  5%|▌         | 49/900 [03:21<1:39:42,  7.03s/it]
  6%|▌         | 50/900 [03:21<1:11:02,  5.01s/it]
  6%|▌         | 51/900 [03:21<51:01,  3.61s/it]  
  6%|▌         | 52/900 [03:22<37:01,  2.62s/it]
  6%|▌         | 53/900 [03:22<27:14,  1.93s/it]
  6%|▌         | 54/900 [03:22<20:23,  1.45s/it]
  6%|▌         | 55/900 [03:22<15:38,  1.11s/it]
  6%|▌         | 56/900 [03:23<12:17,  1.14it/s]
  6%|▋         | 57/900 [03:39<1:17:37,  5.52s/it]
  6%|▋         | 58/900 [03:40<55:37,  3.96s/it]  
  7%|▋         | 59/900 [03:40<40:10,  2.87s/it]
  7%|▋         | 60/900 [03:40<29:21,  2.10s/it]
  7%|▋         | 61/900 [03:40<21:48,  1.56s/it]
  7%|▋         | 62/900 [03:41<16:31,  1.18s/it]
  7%|▋         | 63/900 [03:41<12:48,  1.09it/s]
  7%|▋         | 64/900 [03:41<10:13,  1.36it/s]
  7%|▋         | 65/900 [04:11<2:08:59,  9.27s/it]
  7%|▋         | 66/900 [04:11<1:31:26,  6.58s/it]
  7%|▋         | 67/900 [04:11<1:05:11,  4.70s/it]
  8%|▊         | 68/900 [04:11<46:49,  3.38s/it]  
  8%|▊         | 69/900 [04:12<33:58,  2.45s/it]
  8%|▊         | 70/900 [04:12<25:00,  1.81s/it]
  8%|▊         | 71/900 [04:12<18:44,  1.36s/it]
  8%|▊         | 72/900 [04:13<14:21,  1.04s/it]
  8%|▊         | 73/900 [04:32<1:31:37,  6.65s/it]
  8%|▊         | 74/900 [04:33<1:05:18,  4.74s/it]
  8%|▊         | 75/900 [04:33<46:54,  3.41s/it]  
  8%|▊         | 76/900 [04:33<34:04,  2.48s/it]
  9%|▊         | 77/900 [04:34<25:04,  1.83s/it]
  9%|▊         | 78/900 [04:34<18:45,  1.37s/it]
  9%|▉         | 79/900 [04:34<14:25,  1.05s/it]
  9%|▉         | 80/900 [04:35<11:24,  1.20it/s]
  9%|▉         | 81/900 [05:01<1:54:47,  8.41s/it]
  9%|▉         | 82/900 [05:01<1:21:38,  5.99s/it]
  9%|▉         | 83/900 [05:01<58:28,  4.29s/it]  
  9%|▉         | 84/900 [05:02<42:15,  3.11s/it]
  9%|▉         | 85/900 [05:02<30:52,  2.27s/it]
 10%|▉         | 86/900 [05:02<22:54,  1.69s/it]
 10%|▉         | 87/900 [05:03<17:21,  1.28s/it]
 10%|▉         | 88/900 [05:03<13:28,  1.00it/s]
 10%|▉         | 89/900 [05:31<2:04:09,  9.19s/it]
 10%|█         | 90/900 [05:32<1:28:13,  6.54s/it]
 10%|█         | 91/900 [05:32<1:03:05,  4.68s/it]
 10%|█         | 92/900 [05:32<45:30,  3.38s/it]  
 10%|█         | 93/900 [05:33<33:13,  2.47s/it]
 10%|█         | 94/900 [05:33<24:39,  1.84s/it]
 11%|█         | 95/900 [05:33<18:40,  1.39s/it]
 11%|█         | 96/900 [05:34<14:28,  1.08s/it]
 11%|█         | 97/900 [06:51<5:21:29, 24.02s/it]
 11%|█         | 97/900 [06:52<56:51,  4.25s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json.
+ReorientRedMugTask_1 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 98, duration: 6.533333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.533863572146937, 'joint_sparc_mean': -5.481318947907377, 'ee_isj': 368.45912254875446, 'joint_isj': 7050.05178236057, 'ee_path_length': 0.8101441843862531, 'joint_rmse_mean': 0.8635584643664588, 'ee_speed_max': 0.2756461501121521, 'ee_speed_mean': 0.11783574521541595}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 3, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 383.101, 'policy_inference_avg_ms': 3909.2, 'env_step_s': 27.645, 'env_step_avg_ms': 282.1, 'video_write_s': 1.333, 'video_write_avg_ms': 13.6, 'wall_total_s': 412.079, 'it_per_sec': 0.24}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: f1674e02ff7a4b85b495fb15d0dedc2e-1
+[RoboLab] Running ReorientRedMugTask_2: 'Put the red mug upright so that the opening is facing upwards.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:58<14:34:34, 58.37s/it]
  0%|          | 2/900 [00:58<6:02:26, 24.22s/it] 
  0%|          | 3/900 [00:58<3:18:44, 13.29s/it]
  0%|          | 4/900 [00:59<2:01:52,  8.16s/it]
  1%|          | 5/900 [00:59<1:19:25,  5.32s/it]
  1%|          | 6/900 [00:59<53:51,  3.61s/it]  
  1%|          | 7/900 [01:00<37:39,  2.53s/it]
  1%|          | 8/900 [01:00<27:02,  1.82s/it]
  1%|          | 9/900 [01:27<2:24:55,  9.76s/it]
  1%|          | 10/900 [01:27<1:41:28,  6.84s/it]
  1%|          | 11/900 [01:28<1:11:44,  4.84s/it]
  1%|▏         | 12/900 [01:28<51:15,  3.46s/it]  
  1%|▏         | 13/900 [01:28<37:03,  2.51s/it]
  2%|▏         | 14/900 [01:29<27:13,  1.84s/it]
  2%|▏         | 15/900 [01:29<20:23,  1.38s/it]
  2%|▏         | 16/900 [01:29<15:39,  1.06s/it]
  2%|▏         | 17/900 [02:36<5:04:03, 20.66s/it]
  2%|▏         | 18/900 [02:36<3:33:47, 14.54s/it]
  2%|▏         | 19/900 [02:36<2:30:44, 10.27s/it]
  2%|▏         | 20/900 [02:36<1:46:41,  7.27s/it]
  2%|▏         | 21/900 [02:37<1:15:58,  5.19s/it]
  2%|▏         | 22/900 [02:37<54:28,  3.72s/it]  
  3%|▎         | 23/900 [02:37<39:23,  2.70s/it]
  3%|▎         | 24/900 [02:38<28:50,  1.98s/it]
  3%|▎         | 25/900 [03:11<2:45:56, 11.38s/it]
  3%|▎         | 26/900 [03:11<1:57:19,  8.05s/it]
  3%|▎         | 27/900 [03:12<1:23:19,  5.73s/it]
  3%|▎         | 28/900 [03:12<59:32,  4.10s/it]  
  3%|▎         | 29/900 [03:12<42:59,  2.96s/it]
  3%|▎         | 30/900 [03:13<31:27,  2.17s/it]
  3%|▎         | 31/900 [03:13<23:23,  1.61s/it]
  4%|▎         | 32/900 [03:13<17:45,  1.23s/it]
  4%|▎         | 33/900 [04:15<4:41:29, 19.48s/it]
  4%|▍         | 34/900 [04:16<3:18:16, 13.74s/it]
  4%|▍         | 35/900 [04:16<2:20:02,  9.71s/it]
  4%|▍         | 36/900 [04:16<1:39:17,  6.90s/it]
  4%|▍         | 37/900 [04:17<1:10:50,  4.92s/it]
  4%|▍         | 38/900 [04:17<50:55,  3.54s/it]  
  4%|▍         | 39/900 [04:17<36:57,  2.58s/it]
  4%|▍         | 40/900 [04:18<27:15,  1.90s/it]
  5%|▍         | 41/900 [04:27<59:49,  4.18s/it]
  5%|▍         | 42/900 [04:27<43:15,  3.02s/it]
  5%|▍         | 43/900 [04:28<31:38,  2.22s/it]
  5%|▍         | 44/900 [04:28<23:29,  1.65s/it]
  5%|▌         | 45/900 [04:28<17:49,  1.25s/it]
  5%|▌         | 46/900 [04:29<13:45,  1.03it/s]
  5%|▌         | 47/900 [04:29<10:54,  1.30it/s]
  5%|▌         | 48/900 [04:29<08:55,  1.59it/s]
  5%|▌         | 49/900 [05:10<2:57:57, 12.55s/it]
  6%|▌         | 50/900 [05:10<2:05:41,  8.87s/it]
  6%|▌         | 51/900 [05:10<1:29:08,  6.30s/it]
  6%|▌         | 52/900 [05:11<1:03:35,  4.50s/it]
  6%|▌         | 53/900 [05:11<45:42,  3.24s/it]  
  6%|▌         | 54/900 [05:11<33:12,  2.35s/it]
  6%|▌         | 55/900 [05:11<24:28,  1.74s/it]
  6%|▌         | 56/900 [05:12<18:21,  1.31s/it]
  6%|▋         | 57/900 [07:12<8:38:55, 36.93s/it]
  6%|▋         | 58/900 [07:12<6:04:04, 25.94s/it]
  7%|▋         | 59/900 [07:12<4:15:47, 18.25s/it]
  7%|▋         | 60/900 [07:13<3:00:04, 12.86s/it]
  7%|▋         | 61/900 [07:13<2:07:08,  9.09s/it]
  7%|▋         | 62/900 [07:13<1:30:07,  6.45s/it]
  7%|▋         | 63/900 [07:14<1:04:15,  4.61s/it]
  7%|▋         | 64/900 [07:14<46:10,  3.31s/it]  
  7%|▋         | 65/900 [08:16<4:50:53, 20.90s/it]
  7%|▋         | 66/900 [08:16<3:24:35, 14.72s/it]
  7%|▋         | 67/900 [08:16<2:24:16, 10.39s/it]
  8%|▊         | 68/900 [08:17<1:42:06,  7.36s/it]
  8%|▊         | 69/900 [08:17<1:12:36,  5.24s/it]
  8%|▊         | 70/900 [08:17<51:59,  3.76s/it]  
  8%|▊         | 71/900 [08:18<37:35,  2.72s/it]
  8%|▊         | 72/900 [08:18<27:30,  1.99s/it]
  8%|▊         | 73/900 [09:21<4:41:56, 20.46s/it]
  8%|▊         | 74/900 [09:22<3:18:20, 14.41s/it]
  8%|▊         | 75/900 [09:22<2:19:53, 10.17s/it]
  8%|▊         | 76/900 [09:22<1:39:01,  7.21s/it]
  9%|▊         | 77/900 [09:23<1:10:30,  5.14s/it]
  9%|▊         | 78/900 [09:23<50:38,  3.70s/it]  
  9%|▉         | 79/900 [09:23<36:42,  2.68s/it]
  9%|▉         | 80/900 [09:24<26:59,  1.97s/it]
  9%|▉         | 81/900 [10:49<6:07:21, 26.91s/it]
  9%|▉         | 82/900 [10:49<4:18:12, 18.94s/it]
  9%|▉         | 83/900 [10:49<3:01:50, 13.35s/it]
  9%|▉         | 84/900 [10:50<2:08:27,  9.45s/it]
  9%|▉         | 85/900 [10:50<1:31:07,  6.71s/it]
 10%|▉         | 86/900 [10:50<1:05:00,  4.79s/it]
 10%|▉         | 87/900 [10:51<46:44,  3.45s/it]  
 10%|▉         | 88/900 [10:51<33:58,  2.51s/it]
 10%|▉         | 89/900 [11:06<1:23:33,  6.18s/it]
 10%|█         | 90/900 [11:06<59:42,  4.42s/it]  
 10%|█         | 91/900 [11:06<43:01,  3.19s/it]
 10%|█         | 92/900 [11:07<31:22,  2.33s/it]
 10%|█         | 93/900 [11:07<23:14,  1.73s/it]
 10%|█         | 94/900 [11:07<17:34,  1.31s/it]
 11%|█         | 95/900 [11:08<13:36,  1.01s/it]
 11%|█         | 96/900 [11:08<10:51,  1.23it/s]
 11%|█         | 97/900 [11:30<1:38:10,  7.34s/it]
 11%|█         | 98/900 [11:31<1:09:56,  5.23s/it]
 11%|█         | 98/900 [11:31<1:34:20,  7.06s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json.
+ReorientRedMugTask_2 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 99, duration: 6.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.9496906132953504, 'joint_sparc_mean': -6.019099037735637, 'ee_isj': 417.010462588661, 'joint_isj': 5964.73566572014, 'ee_path_length': 0.7669567013641565, 'joint_rmse_mean': 0.8487983504095936, 'ee_speed_max': 0.2831481099128723, 'ee_speed_mean': 0.10875945538282394}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 2, 'OBJECT_BUMPED': 1, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['red_mug']}, instruction_type: default, timing: {'policy_inference_s': 663.092, 'policy_inference_avg_ms': 6697.9, 'env_step_s': 27.407, 'env_step_avg_ms': 276.8, 'video_write_s': 1.155, 'video_write_avg_ms': 11.7, 'wall_total_s': 691.654, 'it_per_sec': 0.14}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 3ce5fc5af46647fa9f5c9046ab5364e3-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T06:18:43Z [20,310,222ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.187097 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T06:18:46Z [20,313,590ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T06:18:46Z [20,313,591ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T06:18:46Z [20,313,600ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T06:18:46Z [20,313,600ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T06:18:46Z [20,313,608ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T06:18:46Z [20,313,615ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T06:18:47Z [20,314,260ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((845))' not available in the MDL representation.
+2026-11-02T06:18:47Z [20,314,260ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((845))' not available in the MDL representation.
+2026-11-02T06:18:47Z [20,314,685ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((889))' not available in the MDL representation.
+2026-11-02T06:18:47Z [20,314,685ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((889))' not available in the MDL representation.
+2026-11-02T06:18:47Z [20,314,937ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((940))' not available in the MDL representation.
+2026-11-02T06:18:47Z [20,314,937ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((940))' not available in the MDL representation.
+2026-11-02T06:18:48Z [20,315,773ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((845))' not available in the MDL representation.
+2026-11-02T06:18:48Z [20,315,774ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((845))' not available in the MDL representation.
+2026-11-02T06:18:48Z [20,315,776ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((889))' not available in the MDL representation.
+2026-11-02T06:18:48Z [20,315,777ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((889))' not available in the MDL representation.
+2026-11-02T06:18:48Z [20,315,779ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((940))' not available in the MDL representation.
+2026-11-02T06:18:48Z [20,315,780ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((940))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.476196 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaThenRubiksCubeTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : put the banana then the cube in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaThenRubiksCubeTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaThenRubiksCubeTask_0: 'put the banana then the cube in the bowl' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:57<14:24:46, 57.72s/it]
  0%|          | 2/900 [00:57<5:57:46, 23.91s/it] 
  0%|          | 3/900 [00:58<3:15:44, 13.09s/it]
  0%|          | 4/900 [00:58<1:59:41,  8.02s/it]
  1%|          | 5/900 [00:58<1:17:39,  5.21s/it]
  1%|          | 6/900 [00:58<52:22,  3.51s/it]  
  1%|          | 7/900 [00:59<36:18,  2.44s/it]
  1%|          | 8/900 [00:59<25:47,  1.74s/it]
  1%|          | 9/900 [01:22<2:04:54,  8.41s/it]
  1%|          | 10/900 [01:22<1:27:16,  5.88s/it]
  1%|          | 11/900 [01:22<1:01:30,  4.15s/it]
  1%|▏         | 12/900 [01:23<43:45,  2.96s/it]  
  1%|▏         | 13/900 [01:23<31:27,  2.13s/it]
  2%|▏         | 14/900 [01:23<22:56,  1.55s/it]
  2%|▏         | 15/900 [01:23<17:00,  1.15s/it]
  2%|▏         | 16/900 [01:23<12:52,  1.15it/s]
  2%|▏         | 17/900 [01:42<1:29:35,  6.09s/it]
  2%|▏         | 18/900 [01:42<1:03:36,  4.33s/it]
  2%|▏         | 19/900 [01:42<45:26,  3.10s/it]  
  2%|▏         | 20/900 [01:42<32:45,  2.23s/it]
  2%|▏         | 21/900 [01:43<23:53,  1.63s/it]
  2%|▏         | 22/900 [01:43<17:43,  1.21s/it]
  3%|▎         | 23/900 [01:43<13:22,  1.09it/s]
  3%|▎         | 24/900 [01:43<10:21,  1.41it/s]
  3%|▎         | 25/900 [02:04<1:39:35,  6.83s/it]
  3%|▎         | 26/900 [02:05<1:10:36,  4.85s/it]
  3%|▎         | 27/900 [02:05<50:21,  3.46s/it]  
  3%|▎         | 28/900 [02:05<36:11,  2.49s/it]
  3%|▎         | 29/900 [02:05<26:16,  1.81s/it]
  3%|▎         | 30/900 [02:06<19:21,  1.33s/it]
  3%|▎         | 31/900 [02:06<14:30,  1.00s/it]
  4%|▎         | 32/900 [02:06<11:06,  1.30it/s]
  4%|▎         | 33/900 [03:25<5:48:55, 24.15s/it]
  4%|▍         | 34/900 [03:25<4:04:56, 16.97s/it]
  4%|▍         | 35/900 [03:25<2:52:13, 11.95s/it]
  4%|▍         | 36/900 [03:25<2:01:24,  8.43s/it]
  4%|▍         | 37/900 [03:26<1:25:51,  5.97s/it]
  4%|▍         | 38/900 [03:26<1:01:03,  4.25s/it]
  4%|▍         | 39/900 [03:26<43:43,  3.05s/it]  
  4%|▍         | 40/900 [03:26<31:35,  2.20s/it]
  5%|▍         | 41/900 [04:29<4:52:47, 20.45s/it]
  5%|▍         | 42/900 [04:30<3:25:44, 14.39s/it]
  5%|▍         | 43/900 [04:30<2:24:52, 10.14s/it]
  5%|▍         | 44/900 [04:30<1:42:21,  7.17s/it]
  5%|▌         | 45/900 [04:30<1:12:37,  5.10s/it]
  5%|▌         | 46/900 [04:31<51:47,  3.64s/it]  
  5%|▌         | 47/900 [04:31<37:14,  2.62s/it]
  5%|▌         | 48/900 [04:31<27:03,  1.91s/it]
  5%|▌         | 49/900 [05:30<4:28:41, 18.94s/it]
  6%|▌         | 50/900 [05:30<3:08:52, 13.33s/it]
  6%|▌         | 51/900 [05:30<2:13:03,  9.40s/it]
  6%|▌         | 52/900 [05:30<1:34:02,  6.65s/it]
  6%|▌         | 53/900 [05:31<1:06:44,  4.73s/it]
  6%|▌         | 54/900 [05:31<47:39,  3.38s/it]  
  6%|▌         | 55/900 [05:31<34:17,  2.43s/it]
  6%|▌         | 56/900 [05:31<24:57,  1.77s/it]
  6%|▋         | 57/900 [05:44<1:10:36,  5.03s/it]
  6%|▋         | 58/900 [05:44<50:23,  3.59s/it]  
  7%|▋         | 59/900 [05:44<36:17,  2.59s/it]
  7%|▋         | 60/900 [05:45<26:31,  1.90s/it]
  7%|▋         | 61/900 [05:45<19:36,  1.40s/it]
  7%|▋         | 62/900 [05:45<14:42,  1.05s/it]
  7%|▋         | 63/900 [05:45<11:15,  1.24it/s]
  7%|▋         | 64/900 [05:46<08:50,  1.57it/s]
  7%|▋         | 65/900 [06:15<2:09:50,  9.33s/it]
  7%|▋         | 66/900 [06:16<1:31:46,  6.60s/it]
  7%|▋         | 67/900 [06:16<1:05:08,  4.69s/it]
  8%|▊         | 68/900 [06:16<46:31,  3.36s/it]  
  8%|▊         | 69/900 [06:16<33:32,  2.42s/it]
  8%|▊         | 70/900 [06:16<24:26,  1.77s/it]
  8%|▊         | 71/900 [06:17<18:05,  1.31s/it]
  8%|▊         | 72/900 [06:17<13:38,  1.01it/s]
  8%|▊         | 73/900 [07:26<4:54:18, 21.35s/it]
  8%|▊         | 74/900 [07:26<3:26:42, 15.02s/it]
  8%|▊         | 75/900 [07:26<2:25:26, 10.58s/it]
  8%|▊         | 76/900 [07:27<1:42:39,  7.47s/it]
  9%|▊         | 77/900 [07:27<1:12:43,  5.30s/it]
  9%|▊         | 78/900 [07:27<51:46,  3.78s/it]  
  9%|▉         | 79/900 [07:27<37:07,  2.71s/it]
  9%|▉         | 80/900 [07:27<26:52,  1.97s/it]
  9%|▉         | 81/900 [07:39<1:07:23,  4.94s/it]
  9%|▉         | 82/900 [07:40<48:02,  3.52s/it]  
  9%|▉         | 83/900 [07:40<34:29,  2.53s/it]
  9%|▉         | 84/900 [07:40<25:01,  1.84s/it]
  9%|▉         | 85/900 [07:40<18:25,  1.36s/it]
 10%|▉         | 86/900 [07:40<13:47,  1.02s/it]
 10%|▉         | 87/900 [07:41<10:32,  1.28it/s]
 10%|▉         | 88/900 [07:41<08:17,  1.63it/s]
 10%|▉         | 89/900 [07:54<58:30,  4.33s/it]
 10%|█         | 90/900 [07:54<41:48,  3.10s/it]
 10%|█         | 91/900 [07:54<30:07,  2.23s/it]
 10%|█         | 92/900 [07:55<21:58,  1.63s/it]
 10%|█         | 93/900 [07:55<16:16,  1.21s/it]
 10%|█         | 94/900 [07:55<12:16,  1.09it/s]
 11%|█         | 95/900 [07:55<09:29,  1.41it/s]
 11%|█         | 96/900 [07:55<07:34,  1.77it/s]
 11%|█         | 97/900 [08:10<1:03:30,  4.75s/it]
 11%|█         | 98/900 [08:10<45:23,  3.40s/it]  
 11%|█         | 99/900 [08:10<32:42,  2.45s/it]
 11%|█         | 100/900 [08:11<23:51,  1.79s/it]
 11%|█         | 101/900 [08:11<17:40,  1.33s/it]
 11%|█▏        | 102/900 [08:11<13:21,  1.00s/it]
 11%|█▏        | 103/900 [08:11<10:17,  1.29it/s]
 12%|█▏        | 104/900 [08:12<08:08,  1.63it/s]
 12%|█▏        | 105/900 [09:08<3:48:58, 17.28s/it]
 12%|█▏        | 106/900 [09:08<2:41:02, 12.17s/it]
 12%|█▏        | 107/900 [09:08<1:53:34,  8.59s/it]
 12%|█▏        | 108/900 [09:09<1:20:24,  6.09s/it]
 12%|█▏        | 109/900 [09:09<57:10,  4.34s/it]  
 12%|█▏        | 110/900 [09:09<40:56,  3.11s/it]
 12%|█▏        | 111/900 [09:09<29:37,  2.25s/it]
 12%|█▏        | 112/900 [09:10<21:40,  1.65s/it]
 13%|█▎        | 113/900 [11:38<9:58:47, 45.65s/it]
 13%|█▎        | 114/900 [11:38<6:59:35, 32.03s/it]
 13%|█▎        | 115/900 [11:38<4:54:18, 22.49s/it]
 13%|█▎        | 116/900 [11:39<3:26:42, 15.82s/it]
 13%|█▎        | 117/900 [11:39<2:25:27, 11.15s/it]
 13%|█▎        | 118/900 [11:39<1:42:38,  7.88s/it]
 13%|█▎        | 119/900 [11:39<1:12:42,  5.59s/it]
 13%|█▎        | 120/900 [11:40<51:46,  3.98s/it]  
 13%|█▎        | 121/900 [12:00<1:56:01,  8.94s/it]
 14%|█▎        | 122/900 [12:00<1:22:03,  6.33s/it]
 14%|█▎        | 123/900 [12:01<58:18,  4.50s/it]  
 14%|█▍        | 124/900 [12:01<41:41,  3.22s/it]
 14%|█▍        | 125/900 [12:01<30:05,  2.33s/it]
 14%|█▍        | 126/900 [12:01<21:58,  1.70s/it]
 14%|█▍        | 127/900 [12:02<16:18,  1.27s/it]
 14%|█▍        | 128/900 [12:02<12:20,  1.04it/s]
 14%|█▍        | 129/900 [12:03<11:41,  1.10it/s]
 14%|█▍        | 130/900 [12:03<09:07,  1.41it/s]
 15%|█▍        | 131/900 [12:03<07:19,  1.75it/s]
 15%|█▍        | 132/900 [12:03<06:04,  2.11it/s]
 15%|█▍        | 133/900 [12:04<05:11,  2.46it/s]
 15%|█▍        | 134/900 [12:04<04:34,  2.79it/s]
 15%|█▌        | 135/900 [12:04<04:08,  3.07it/s]
 15%|█▌        | 136/900 [12:04<03:51,  3.30it/s]
 15%|█▌        | 137/900 [12:05<05:44,  2.21it/s]
 15%|█▌        | 138/900 [12:05<04:56,  2.57it/s]
 15%|█▌        | 139/900 [12:06<04:23,  2.89it/s]
 16%|█▌        | 140/900 [12:06<03:59,  3.17it/s]
 16%|█▌        | 141/900 [12:06<03:45,  3.37it/s]
 16%|█▌        | 142/900 [12:06<03:33,  3.56it/s]
 16%|█▌        | 143/900 [12:07<03:24,  3.70it/s]
 16%|█▌        | 144/900 [12:07<03:17,  3.82it/s]
 16%|█▌        | 145/900 [12:08<05:30,  2.29it/s]
 16%|█▌        | 146/900 [12:08<04:45,  2.64it/s]
 16%|█▋        | 147/900 [12:08<04:14,  2.95it/s]
 16%|█▋        | 148/900 [12:08<03:53,  3.23it/s]
 17%|█▋        | 149/900 [12:09<03:37,  3.44it/s]
 17%|█▋        | 150/900 [12:09<03:27,  3.62it/s]
 17%|█▋        | 151/900 [12:09<03:19,  3.75it/s]
 17%|█▋        | 152/900 [12:09<03:14,  3.85it/s]
 17%|█▋        | 153/900 [15:08<11:07:57, 53.65s/it]
 17%|█▋        | 154/900 [15:08<7:47:53, 37.63s/it] 
 17%|█▋        | 155/900 [15:08<5:27:59, 26.42s/it]
 17%|█▋        | 156/900 [15:08<3:50:12, 18.56s/it]
 17%|█▋        | 157/900 [15:09<2:41:51, 13.07s/it]
 18%|█▊        | 158/900 [15:09<1:54:03,  9.22s/it]
 18%|█▊        | 159/900 [15:09<1:20:40,  6.53s/it]
 18%|█▊        | 160/900 [15:09<57:19,  4.65s/it]  
 18%|█▊        | 161/900 [15:44<2:49:47, 13.79s/it]
 18%|█▊        | 162/900 [15:45<1:59:37,  9.73s/it]
 18%|█▊        | 163/900 [15:45<1:24:32,  6.88s/it]
 18%|█▊        | 164/900 [15:45<1:00:01,  4.89s/it]
 18%|█▊        | 165/900 [15:45<42:53,  3.50s/it]  
 18%|█▊        | 166/900 [15:46<30:53,  2.53s/it]
 19%|█▊        | 167/900 [15:46<22:31,  1.84s/it]
 19%|█▊        | 168/900 [15:46<16:39,  1.37s/it]
 19%|█▉        | 169/900 [16:47<3:52:55, 19.12s/it]
 19%|█▉        | 170/900 [16:47<2:43:45, 13.46s/it]
 19%|█▉        | 171/900 [16:47<1:55:21,  9.49s/it]
 19%|█▉        | 172/900 [16:48<1:21:32,  6.72s/it]
 19%|█▉        | 173/900 [16:48<57:54,  4.78s/it]  
 19%|█▉        | 174/900 [16:48<41:22,  3.42s/it]
 19%|█▉        | 175/900 [16:48<29:48,  2.47s/it]
 20%|█▉        | 176/900 [16:49<21:43,  1.80s/it]
 20%|█▉        | 177/900 [17:13<1:42:48,  8.53s/it]
 20%|█▉        | 178/900 [17:13<1:12:48,  6.05s/it]
 20%|█▉        | 179/900 [17:13<51:48,  4.31s/it]  
 20%|██        | 180/900 [17:14<37:06,  3.09s/it]
 20%|██        | 181/900 [17:14<26:51,  2.24s/it]
 20%|██        | 182/900 [17:14<19:43,  1.65s/it]
 20%|██        | 183/900 [17:14<14:45,  1.24s/it]
 20%|██        | 184/900 [17:15<11:16,  1.06it/s]
 21%|██        | 185/900 [18:16<3:49:02, 19.22s/it]
 21%|██        | 186/900 [18:17<2:41:02, 13.53s/it]
 21%|██        | 187/900 [18:17<1:53:28,  9.55s/it]
 21%|██        | 188/900 [18:17<1:20:12,  6.76s/it]
 21%|██        | 189/900 [18:17<56:57,  4.81s/it]  
 21%|██        | 190/900 [18:18<40:42,  3.44s/it]
 21%|██        | 191/900 [18:18<29:21,  2.48s/it]
 21%|██▏       | 192/900 [18:18<21:24,  1.81s/it]
 21%|██▏       | 193/900 [20:53<9:21:37, 47.66s/it]
 22%|██▏       | 194/900 [20:53<6:33:24, 33.43s/it]
 22%|██▏       | 195/900 [20:53<4:35:48, 23.47s/it]
 22%|██▏       | 196/900 [20:54<3:13:35, 16.50s/it]
 22%|██▏       | 197/900 [20:54<2:16:07, 11.62s/it]
 22%|██▏       | 198/900 [20:54<1:35:57,  8.20s/it]
 22%|██▏       | 199/900 [20:54<1:07:52,  5.81s/it]
 22%|██▏       | 200/900 [20:54<48:14,  4.13s/it]  
 22%|██▏       | 201/900 [21:48<3:39:15, 18.82s/it]
 22%|██▏       | 202/900 [21:48<2:34:03, 13.24s/it]
 23%|██▎       | 203/900 [21:48<1:48:28,  9.34s/it]
 23%|██▎       | 204/900 [21:48<1:16:36,  6.60s/it]
 23%|██▎       | 205/900 [21:48<54:21,  4.69s/it]  
 23%|██▎       | 206/900 [21:49<38:47,  3.35s/it]
 23%|██▎       | 207/900 [21:49<27:53,  2.42s/it]
 23%|██▎       | 208/900 [21:49<20:17,  1.76s/it]
 23%|██▎       | 209/900 [23:50<7:12:01, 37.51s/it]
 23%|██▎       | 210/900 [23:50<5:02:45, 26.33s/it]
 23%|██▎       | 211/900 [23:51<3:32:23, 18.50s/it]
 24%|██▎       | 212/900 [23:51<2:29:14, 13.02s/it]
 24%|██▎       | 213/900 [23:51<1:45:07,  9.18s/it]
 24%|██▍       | 214/900 [23:51<1:14:15,  6.50s/it]
 24%|██▍       | 215/900 [23:51<52:40,  4.61s/it]  
 24%|██▍       | 216/900 [23:52<37:34,  3.30s/it]
 24%|██▍       | 217/900 [24:46<3:30:49, 18.52s/it]
 24%|██▍       | 218/900 [24:46<2:28:07, 13.03s/it]
 24%|██▍       | 219/900 [24:46<1:44:17,  9.19s/it]
 24%|██▍       | 220/900 [24:46<1:13:39,  6.50s/it]
 25%|██▍       | 221/900 [24:47<52:13,  4.62s/it]  
 25%|██▍       | 222/900 [24:47<37:16,  3.30s/it]
 25%|██▍       | 223/900 [24:47<26:48,  2.38s/it]
 25%|██▍       | 224/900 [24:47<19:31,  1.73s/it]
 25%|██▌       | 225/900 [26:30<5:58:47, 31.89s/it]
 25%|██▌       | 226/900 [26:30<4:11:33, 22.39s/it]
 25%|██▌       | 227/900 [26:30<2:56:35, 15.74s/it]
 25%|██▌       | 228/900 [26:30<2:04:12, 11.09s/it]
 25%|██▌       | 229/900 [26:30<1:27:34,  7.83s/it]
 26%|██▌       | 230/900 [26:31<1:01:58,  5.55s/it]
 26%|██▌       | 231/900 [26:31<44:04,  3.95s/it]  
 26%|██▌       | 232/900 [26:31<31:35,  2.84s/it]
 26%|██▌       | 233/900 [27:34<3:53:19, 20.99s/it]
 26%|██▌       | 234/900 [27:35<2:43:51, 14.76s/it]
 26%|██▌       | 235/900 [27:35<1:55:16, 10.40s/it]
 26%|██▌       | 236/900 [27:35<1:21:20,  7.35s/it]
 26%|██▋       | 237/900 [27:35<57:38,  5.22s/it]  
 26%|██▋       | 238/900 [27:36<41:03,  3.72s/it]
 27%|██▋       | 239/900 [27:36<29:29,  2.68s/it]
 27%|██▋       | 240/900 [27:36<21:22,  1.94s/it]
 27%|██▋       | 241/900 [28:43<3:56:11, 21.51s/it]
 27%|██▋       | 242/900 [28:44<2:45:53, 15.13s/it]
 27%|██▋       | 243/900 [28:44<1:56:44, 10.66s/it]
 27%|██▋       | 244/900 [28:44<1:22:23,  7.54s/it]
 27%|██▋       | 245/900 [28:44<58:23,  5.35s/it]  
 27%|██▋       | 246/900 [28:44<41:35,  3.82s/it]
 27%|██▋       | 247/900 [28:45<29:51,  2.74s/it]
 28%|██▊       | 248/900 [28:45<21:38,  1.99s/it]
 28%|██▊       | 249/900 [32:52<13:38:12, 75.41s/it]
 28%|██▊       | 250/900 [32:52<9:32:39, 52.86s/it] 
 28%|██▊       | 251/900 [32:52<6:41:01, 37.07s/it]
 28%|██▊       | 252/900 [32:52<4:41:04, 26.03s/it]
 28%|██▊       | 253/900 [32:53<3:17:15, 18.29s/it]
 28%|██▊       | 254/900 [32:53<2:18:40, 12.88s/it]
 28%|██▊       | 255/900 [32:53<1:37:43,  9.09s/it]
 28%|██▊       | 256/900 [32:53<1:09:05,  6.44s/it]
 29%|██▊       | 257/900 [34:39<6:26:13, 36.04s/it]
 29%|██▊       | 258/900 [34:39<4:30:44, 25.30s/it]
 29%|██▉       | 259/900 [34:39<3:10:00, 17.79s/it]
 29%|██▉       | 260/900 [34:39<2:13:35, 12.52s/it]
 29%|██▉       | 261/900 [34:39<1:34:08,  8.84s/it]
 29%|██▉       | 262/900 [34:40<1:06:31,  6.26s/it]
 29%|██▉       | 263/900 [34:40<47:12,  4.45s/it]  
 29%|██▉       | 264/900 [34:40<33:42,  3.18s/it]
 29%|██▉       | 265/900 [37:35<9:37:53, 54.60s/it]
 30%|██▉       | 266/900 [37:35<6:44:36, 38.29s/it]
 30%|██▉       | 267/900 [37:35<4:43:29, 26.87s/it]
 30%|██▉       | 268/900 [37:35<3:18:50, 18.88s/it]
 30%|██▉       | 269/900 [37:36<2:19:40, 13.28s/it]
 30%|███       | 270/900 [37:36<1:38:19,  9.36s/it]
 30%|███       | 271/900 [37:36<1:09:26,  6.62s/it]
 30%|███       | 272/900 [37:36<49:13,  4.70s/it]  
 30%|███       | 273/900 [42:30<15:55:23, 91.43s/it]
 30%|███       | 274/900 [42:30<11:08:25, 64.07s/it]
 31%|███       | 275/900 [42:31<7:47:50, 44.91s/it] 
 31%|███       | 276/900 [42:31<5:27:40, 31.51s/it]
 31%|███       | 277/900 [42:31<3:49:43, 22.13s/it]
 31%|███       | 278/900 [42:31<2:41:19, 15.56s/it]
 31%|███       | 279/900 [42:32<1:53:30, 10.97s/it]
 31%|███       | 280/900 [42:32<1:20:02,  7.75s/it]
 31%|███       | 281/900 [44:35<7:16:55, 42.35s/it]
 31%|███▏      | 282/900 [44:35<5:06:06, 29.72s/it]
 31%|███▏      | 283/900 [44:35<3:34:41, 20.88s/it]
 32%|███▏      | 284/900 [44:36<2:30:46, 14.69s/it]
 32%|███▏      | 285/900 [44:36<1:46:06, 10.35s/it]
 32%|███▏      | 286/900 [44:36<1:14:52,  7.32s/it]
 32%|███▏      | 287/900 [44:36<53:07,  5.20s/it]  
 32%|███▏      | 288/900 [44:37<37:52,  3.71s/it]
 32%|███▏      | 289/900 [45:06<1:57:38, 11.55s/it]
 32%|███▏      | 290/900 [45:07<1:22:59,  8.16s/it]
 32%|███▏      | 291/900 [45:07<58:46,  5.79s/it]  
 32%|███▏      | 292/900 [45:07<41:49,  4.13s/it]
 33%|███▎      | 293/900 [45:07<29:59,  2.96s/it]
 33%|███▎      | 294/900 [45:08<21:42,  2.15s/it]
 33%|███▎      | 295/900 [45:08<15:54,  1.58s/it]
 33%|███▎      | 296/900 [45:08<11:51,  1.18s/it]
 33%|███▎      | 297/900 [47:19<6:41:50, 39.98s/it]
 33%|███▎      | 298/900 [47:19<4:41:34, 28.06s/it]
 33%|███▎      | 299/900 [47:19<3:17:30, 19.72s/it]
 33%|███▎      | 300/900 [47:19<2:18:46, 13.88s/it]
 33%|███▎      | 301/900 [47:20<1:37:42,  9.79s/it]
 34%|███▎      | 302/900 [47:20<1:09:01,  6.93s/it]
 34%|███▎      | 303/900 [47:20<48:57,  4.92s/it]  
 34%|███▍      | 304/900 [47:20<34:57,  3.52s/it]
 34%|███▍      | 305/900 [47:52<1:59:24, 12.04s/it]
 34%|███▍      | 306/900 [47:53<1:24:12,  8.51s/it]
 34%|███▍      | 307/900 [47:53<59:35,  6.03s/it]  
 34%|███▍      | 308/900 [47:53<42:21,  4.29s/it]
 34%|███▍      | 309/900 [47:53<30:20,  3.08s/it]
 34%|███▍      | 310/900 [47:54<21:55,  2.23s/it]
 35%|███▍      | 311/900 [47:54<16:02,  1.63s/it]
 35%|███▍      | 312/900 [47:54<11:57,  1.22s/it]
 35%|███▍      | 313/900 [48:43<2:31:52, 15.52s/it]
 35%|███▍      | 314/900 [48:43<1:46:51, 10.94s/it]
 35%|███▌      | 315/900 [48:43<1:15:24,  7.73s/it]
 35%|███▌      | 316/900 [48:44<53:26,  5.49s/it]  
 35%|███▌      | 317/900 [48:44<38:04,  3.92s/it]
 35%|███▌      | 318/900 [48:44<27:19,  2.82s/it]
 35%|███▌      | 319/900 [48:44<19:50,  2.05s/it]
 36%|███▌      | 320/900 [48:45<14:37,  1.51s/it]
 36%|███▌      | 321/900 [49:29<2:18:59, 14.40s/it]
 36%|███▌      | 322/900 [49:29<1:37:48, 10.15s/it]
 36%|███▌      | 323/900 [49:30<1:09:03,  7.18s/it]
 36%|███▌      | 324/900 [49:30<48:53,  5.09s/it]  
 36%|███▌      | 325/900 [49:30<34:48,  3.63s/it]
 36%|███▌      | 326/900 [49:30<24:58,  2.61s/it]
 36%|███▋      | 327/900 [49:31<18:05,  1.89s/it]
 36%|███▋      | 328/900 [49:31<13:16,  1.39s/it]
 37%|███▋      | 329/900 [49:54<1:14:44,  7.85s/it]
 37%|███▋      | 330/900 [49:54<52:51,  5.56s/it]  
 37%|███▋      | 331/900 [49:54<37:34,  3.96s/it]
 37%|███▋      | 332/900 [49:54<26:54,  2.84s/it]
 37%|███▋      | 333/900 [49:55<19:26,  2.06s/it]
 37%|███▋      | 334/900 [49:55<14:13,  1.51s/it]
 37%|███▋      | 335/900 [49:55<10:34,  1.12s/it]
 37%|███▋      | 336/900 [49:55<08:01,  1.17it/s]
 37%|███▋      | 337/900 [51:00<3:08:48, 20.12s/it]
 38%|███▊      | 338/900 [51:01<2:12:36, 14.16s/it]
 38%|███▊      | 339/900 [51:01<1:33:19,  9.98s/it]
 38%|███▊      | 340/900 [51:01<1:05:52,  7.06s/it]
 38%|███▊      | 341/900 [51:01<46:41,  5.01s/it]  
 38%|███▊      | 342/900 [51:02<33:18,  3.58s/it]
 38%|███▊      | 343/900 [51:02<23:57,  2.58s/it]
 38%|███▊      | 344/900 [51:02<17:24,  1.88s/it]
 38%|███▊      | 345/900 [51:33<1:36:48, 10.47s/it]
 38%|███▊      | 346/900 [51:33<1:08:19,  7.40s/it]
 39%|███▊      | 347/900 [51:33<48:23,  5.25s/it]  
 39%|███▊      | 348/900 [51:33<34:27,  3.75s/it]
 39%|███▉      | 349/900 [51:34<24:42,  2.69s/it]
 39%|███▉      | 350/900 [51:34<17:56,  1.96s/it]
 39%|███▉      | 351/900 [51:34<13:14,  1.45s/it]
 39%|███▉      | 352/900 [51:34<09:54,  1.09s/it]
 39%|███▉      | 353/900 [52:40<3:07:10, 20.53s/it]
 39%|███▉      | 354/900 [52:40<2:11:28, 14.45s/it]
 39%|███▉      | 355/900 [52:41<1:32:34, 10.19s/it]
 40%|███▉      | 356/900 [52:41<1:05:23,  7.21s/it]
 40%|███▉      | 357/900 [52:41<46:23,  5.13s/it]  
 40%|███▉      | 358/900 [52:41<33:05,  3.66s/it]
 40%|███▉      | 359/900 [52:42<23:47,  2.64s/it]
 40%|████      | 360/900 [52:42<17:17,  1.92s/it]
 40%|████      | 361/900 [53:07<1:20:05,  8.91s/it]
 40%|████      | 362/900 [53:07<56:39,  6.32s/it]  
 40%|████      | 363/900 [53:08<40:16,  4.50s/it]
 40%|████      | 364/900 [53:08<28:51,  3.23s/it]
 41%|████      | 365/900 [53:08<20:50,  2.34s/it]
 41%|████      | 366/900 [53:08<15:15,  1.71s/it]
 41%|████      | 367/900 [53:09<11:19,  1.28s/it]
 41%|████      | 368/900 [53:09<08:36,  1.03it/s]
 41%|████      | 369/900 [53:34<1:13:26,  8.30s/it]
 41%|████      | 370/900 [53:35<52:00,  5.89s/it]  
 41%|████      | 371/900 [53:35<37:00,  4.20s/it]
 41%|████▏     | 372/900 [53:35<26:32,  3.02s/it]
 41%|████▏     | 373/900 [53:35<19:13,  2.19s/it]
 42%|████▏     | 374/900 [53:36<14:07,  1.61s/it]
 42%|████▏     | 375/900 [53:36<10:33,  1.21s/it]
 42%|████▏     | 376/900 [53:36<08:03,  1.08it/s]
 42%|████▏     | 377/900 [54:33<2:34:42, 17.75s/it]
 42%|████▏     | 378/900 [54:33<1:48:46, 12.50s/it]
 42%|████▏     | 379/900 [54:34<1:16:39,  8.83s/it]
 42%|████▏     | 380/900 [54:34<54:13,  6.26s/it]  
 42%|████▏     | 381/900 [54:34<38:34,  4.46s/it]
 42%|████▏     | 382/900 [54:35<27:38,  3.20s/it]
 43%|████▎     | 383/900 [54:35<19:58,  2.32s/it]
 43%|████▎     | 384/900 [54:35<14:36,  1.70s/it]
 43%|████▎     | 385/900 [57:29<7:38:30, 53.42s/it]
 43%|████▎     | 386/900 [57:29<5:20:57, 37.47s/it]
 43%|████▎     | 387/900 [57:30<3:44:51, 26.30s/it]
 43%|████▎     | 388/900 [57:30<2:37:41, 18.48s/it]
 43%|████▎     | 389/900 [57:30<1:50:46, 13.01s/it]
 43%|████▎     | 390/900 [57:30<1:18:00,  9.18s/it]
 43%|████▎     | 391/900 [57:31<55:05,  6.49s/it]  
 44%|████▎     | 392/900 [57:31<39:04,  4.62s/it]
 44%|████▎     | 393/900 [58:37<3:13:53, 22.95s/it]
 44%|████▍     | 394/900 [58:37<2:16:04, 16.14s/it]
 44%|████▍     | 395/900 [58:37<1:35:39, 11.37s/it]
 44%|████▍     | 396/900 [58:37<1:07:25,  8.03s/it]
 44%|████▍     | 397/900 [58:38<47:44,  5.69s/it]  
 44%|████▍     | 398/900 [58:38<33:56,  4.06s/it]
 44%|████▍     | 399/900 [58:38<24:17,  2.91s/it]
 44%|████▍     | 400/900 [58:38<17:33,  2.11s/it]
 45%|████▍     | 401/900 [59:24<2:06:23, 15.20s/it]
 45%|████▍     | 402/900 [59:24<1:28:53, 10.71s/it]
 45%|████▍     | 403/900 [59:24<1:02:41,  7.57s/it]
 45%|████▍     | 404/900 [59:25<44:22,  5.37s/it]  
 45%|████▌     | 405/900 [59:25<31:37,  3.83s/it]
 45%|████▌     | 406/900 [59:25<22:41,  2.76s/it]
 45%|████▌     | 407/900 [59:25<16:25,  2.00s/it]
 45%|████▌     | 408/900 [59:26<12:04,  1.47s/it]
 45%|████▌     | 409/900 [1:00:18<2:18:12, 16.89s/it]
 46%|████▌     | 410/900 [1:00:19<1:37:08, 11.89s/it]
 46%|████▌     | 411/900 [1:00:19<1:08:28,  8.40s/it]
 46%|████▌     | 412/900 [1:00:19<48:27,  5.96s/it]  
 46%|████▌     | 413/900 [1:00:19<34:26,  4.24s/it]
 46%|████▌     | 414/900 [1:00:20<24:39,  3.05s/it]
 46%|████▌     | 415/900 [1:00:20<17:48,  2.20s/it]
 46%|████▌     | 416/900 [1:00:20<13:00,  1.61s/it]
 46%|████▋     | 417/900 [1:01:20<2:32:50, 18.99s/it]
 46%|████▋     | 418/900 [1:01:20<1:47:20, 13.36s/it]
 47%|████▋     | 419/900 [1:01:20<1:15:32,  9.42s/it]
 47%|████▋     | 420/900 [1:01:20<53:19,  6.67s/it]  
 47%|████▋     | 421/900 [1:01:21<37:48,  4.74s/it]
 47%|████▋     | 422/900 [1:01:21<26:58,  3.39s/it]
 47%|████▋     | 423/900 [1:01:21<19:24,  2.44s/it]
 47%|████▋     | 424/900 [1:01:21<14:06,  1.78s/it]
 47%|████▋     | 425/900 [1:02:30<2:53:01, 21.86s/it]
 47%|████▋     | 426/900 [1:02:30<2:01:30, 15.38s/it]
 47%|████▋     | 427/900 [1:02:31<1:25:30, 10.85s/it]
 48%|████▊     | 428/900 [1:02:31<1:00:20,  7.67s/it]
 48%|████▊     | 429/900 [1:02:31<42:45,  5.45s/it]  
 48%|████▊     | 430/900 [1:02:31<30:27,  3.89s/it]
 48%|████▊     | 431/900 [1:02:32<21:53,  2.80s/it]
 48%|████▊     | 432/900 [1:02:32<15:55,  2.04s/it]
 48%|████▊     | 433/900 [1:03:20<2:04:32, 16.00s/it]
 48%|████▊     | 434/900 [1:03:21<1:27:36, 11.28s/it]
 48%|████▊     | 435/900 [1:03:21<1:01:45,  7.97s/it]
 48%|████▊     | 436/900 [1:03:21<43:40,  5.65s/it]  
 49%|████▊     | 437/900 [1:03:21<31:06,  4.03s/it]
 49%|████▊     | 438/900 [1:03:22<22:19,  2.90s/it]
 49%|████▉     | 439/900 [1:03:22<16:11,  2.11s/it]
 49%|████▉     | 440/900 [1:03:22<11:54,  1.55s/it]
 49%|████▉     | 441/900 [1:04:06<1:49:09, 14.27s/it]
 49%|████▉     | 442/900 [1:04:06<1:16:50, 10.07s/it]
 49%|████▉     | 443/900 [1:04:07<54:15,  7.12s/it]  
 49%|████▉     | 444/900 [1:04:07<38:29,  5.06s/it]
 49%|████▉     | 445/900 [1:04:07<27:28,  3.62s/it]
 50%|████▉     | 446/900 [1:04:07<19:45,  2.61s/it]
 50%|████▉     | 447/900 [1:04:08<14:22,  1.90s/it]
 50%|████▉     | 448/900 [1:04:08<10:36,  1.41s/it]
 50%|████▉     | 449/900 [1:04:49<1:40:39, 13.39s/it]
 50%|█████     | 450/900 [1:04:50<1:10:52,  9.45s/it]
 50%|█████     | 451/900 [1:04:50<50:05,  6.69s/it]  
 50%|█████     | 452/900 [1:04:50<35:34,  4.76s/it]
 50%|█████     | 453/900 [1:04:50<25:25,  3.41s/it]
 50%|█████     | 454/900 [1:04:51<18:19,  2.47s/it]
 51%|█████     | 455/900 [1:04:51<13:21,  1.80s/it]
 51%|█████     | 456/900 [1:04:51<09:54,  1.34s/it]
 51%|█████     | 457/900 [1:05:45<2:06:00, 17.07s/it]
 51%|█████     | 458/900 [1:05:45<1:28:34, 12.02s/it]
 51%|█████     | 459/900 [1:05:45<1:02:25,  8.49s/it]
 51%|█████     | 460/900 [1:05:46<44:09,  6.02s/it]  
 51%|█████     | 461/900 [1:05:46<31:24,  4.29s/it]
 51%|█████▏    | 462/900 [1:05:46<22:29,  3.08s/it]
 51%|█████▏    | 463/900 [1:05:46<16:15,  2.23s/it]
 52%|█████▏    | 464/900 [1:05:47<11:54,  1.64s/it]
 52%|█████▏    | 465/900 [1:10:54<11:17:41, 93.48s/it]
 52%|█████▏    | 466/900 [1:10:55<7:53:52, 65.51s/it] 
 52%|█████▏    | 467/900 [1:10:55<5:31:30, 45.94s/it]
 52%|█████▏    | 468/900 [1:10:55<3:52:04, 32.23s/it]
 52%|█████▏    | 469/900 [1:10:55<2:42:37, 22.64s/it]
 52%|█████▏    | 470/900 [1:10:56<1:54:07, 15.92s/it]
 52%|█████▏    | 471/900 [1:10:56<1:20:15, 11.22s/it]
 52%|█████▏    | 472/900 [1:10:56<56:36,  7.94s/it]  
 53%|█████▎    | 473/900 [1:12:57<4:57:47, 41.84s/it]
 53%|█████▎    | 474/900 [1:12:57<3:28:27, 29.36s/it]
 53%|█████▎    | 475/900 [1:12:58<2:26:04, 20.62s/it]
 53%|█████▎    | 476/900 [1:12:58<1:42:31, 14.51s/it]
 53%|█████▎    | 477/900 [1:12:58<1:12:05, 10.23s/it]
 53%|█████▎    | 478/900 [1:12:58<50:50,  7.23s/it]  
 53%|█████▎    | 479/900 [1:12:59<36:00,  5.13s/it]
 53%|█████▎    | 480/900 [1:12:59<25:39,  3.67s/it]
 53%|█████▎    | 481/900 [1:14:43<3:56:21, 33.85s/it]
 54%|█████▎    | 482/900 [1:14:43<2:45:34, 23.77s/it]
 54%|█████▎    | 483/900 [1:14:44<1:56:07, 16.71s/it]
 54%|█████▍    | 484/900 [1:14:44<1:21:36, 11.77s/it]
 54%|█████▍    | 485/900 [1:14:44<57:28,  8.31s/it]  
 54%|█████▍    | 486/900 [1:14:44<40:37,  5.89s/it]
 54%|█████▍    | 487/900 [1:14:45<28:51,  4.19s/it]
 54%|█████▍    | 488/900 [1:14:45<20:38,  3.01s/it]
 54%|█████▍    | 489/900 [1:17:35<6:04:01, 53.14s/it]
 54%|█████▍    | 490/900 [1:17:35<4:14:40, 37.27s/it]
 55%|█████▍    | 491/900 [1:17:35<2:58:18, 26.16s/it]
 55%|█████▍    | 492/900 [1:17:36<2:04:59, 18.38s/it]
 55%|█████▍    | 493/900 [1:17:36<1:27:46, 12.94s/it]
 55%|█████▍    | 494/900 [1:17:36<1:01:45,  9.13s/it]
 55%|█████▌    | 495/900 [1:17:36<43:36,  6.46s/it]  
 55%|█████▌    | 496/900 [1:17:37<30:55,  4.59s/it]
 55%|█████▌    | 497/900 [1:21:42<8:35:03, 76.68s/it]
 55%|█████▌    | 498/900 [1:21:42<6:00:07, 53.75s/it]
 55%|█████▌    | 499/900 [1:21:42<4:11:55, 37.69s/it]
 56%|█████▌    | 500/900 [1:21:43<2:57:46, 26.67s/it]
 56%|█████▌    | 501/900 [1:21:43<2:04:36, 18.74s/it]
 56%|█████▌    | 502/900 [1:21:43<1:27:29, 13.19s/it]
 56%|█████▌    | 503/900 [1:21:44<1:01:33,  9.30s/it]
 56%|█████▌    | 504/900 [1:21:44<43:27,  6.58s/it]  
 56%|█████▌    | 505/900 [1:22:47<2:35:59, 23.69s/it]
 56%|█████▌    | 506/900 [1:22:48<1:49:24, 16.66s/it]
 56%|█████▋    | 507/900 [1:22:48<1:16:51, 11.73s/it]
 56%|█████▋    | 508/900 [1:22:48<54:07,  8.28s/it]  
 57%|█████▋    | 509/900 [1:22:48<38:15,  5.87s/it]
 57%|█████▋    | 510/900 [1:22:49<27:10,  4.18s/it]
 57%|█████▋    | 511/900 [1:22:49<19:26,  3.00s/it]
 57%|█████▋    | 512/900 [1:22:49<14:02,  2.17s/it]
 57%|█████▋    | 513/900 [1:24:49<4:02:26, 37.59s/it]
 57%|█████▋    | 514/900 [1:24:50<2:49:46, 26.39s/it]
 57%|█████▋    | 515/900 [1:24:50<1:59:01, 18.55s/it]
 57%|█████▋    | 516/900 [1:24:50<1:23:35, 13.06s/it]
 57%|█████▋    | 517/900 [1:24:50<58:51,  9.22s/it]  
 58%|█████▊    | 518/900 [1:24:51<41:35,  6.53s/it]
 58%|█████▊    | 519/900 [1:24:51<29:30,  4.65s/it]
 58%|█████▊    | 520/900 [1:24:51<21:03,  3.33s/it]
 58%|█████▊    | 521/900 [1:25:29<1:26:05, 13.63s/it]
 58%|█████▊    | 522/900 [1:25:29<1:00:35,  9.62s/it]
 58%|█████▊    | 523/900 [1:25:29<42:47,  6.81s/it]  
 58%|█████▊    | 524/900 [1:25:30<30:21,  4.84s/it]
 58%|█████▊    | 525/900 [1:25:30<21:40,  3.47s/it]
 58%|█████▊    | 526/900 [1:25:30<15:36,  2.50s/it]
 59%|█████▊    | 527/900 [1:25:30<11:22,  1.83s/it]
 59%|█████▊    | 528/900 [1:25:31<08:25,  1.36s/it]
 59%|█████▉    | 529/900 [1:27:10<3:09:56, 30.72s/it]
 59%|█████▉    | 530/900 [1:27:10<2:13:04, 21.58s/it]
 59%|█████▉    | 531/900 [1:27:10<1:33:22, 15.18s/it]
 59%|█████▉    | 532/900 [1:27:11<1:05:38, 10.70s/it]
 59%|█████▉    | 533/900 [1:27:11<46:17,  7.57s/it]  
 59%|█████▉    | 534/900 [1:27:11<32:47,  5.38s/it]
 59%|█████▉    | 535/900 [1:27:11<23:21,  3.84s/it]
 60%|█████▉    | 536/900 [1:27:12<16:46,  2.76s/it]
 60%|█████▉    | 537/900 [1:29:06<3:38:55, 36.19s/it]
 60%|█████▉    | 538/900 [1:29:06<2:33:18, 25.41s/it]
 60%|█████▉    | 539/900 [1:29:06<1:47:28, 17.86s/it]
 60%|██████    | 540/900 [1:29:07<1:15:29, 12.58s/it]
 60%|██████    | 541/900 [1:29:07<53:09,  8.88s/it]  
 60%|██████    | 542/900 [1:29:07<37:34,  6.30s/it]
 60%|██████    | 543/900 [1:29:07<26:41,  4.49s/it]
 60%|██████    | 544/900 [1:29:08<19:05,  3.22s/it]
 61%|██████    | 545/900 [1:30:46<3:07:51, 31.75s/it]
 61%|██████    | 546/900 [1:30:46<2:11:33, 22.30s/it]
 61%|██████    | 547/900 [1:30:46<1:32:14, 15.68s/it]
 61%|██████    | 548/900 [1:30:47<1:04:48, 11.05s/it]
 61%|██████    | 549/900 [1:30:47<45:39,  7.80s/it]  
 61%|██████    | 550/900 [1:30:47<32:17,  5.53s/it]
 61%|██████    | 551/900 [1:30:47<22:56,  3.94s/it]
 61%|██████▏   | 552/900 [1:30:48<16:25,  2.83s/it]
 61%|██████▏   | 553/900 [1:32:28<3:06:17, 32.21s/it]
 62%|██████▏   | 554/900 [1:32:29<2:10:27, 22.62s/it]
 62%|██████▏   | 555/900 [1:32:29<1:31:27, 15.91s/it]
 62%|██████▏   | 556/900 [1:32:29<1:04:15, 11.21s/it]
 62%|██████▏   | 557/900 [1:32:29<45:15,  7.92s/it]  
 62%|██████▏   | 558/900 [1:32:30<31:59,  5.61s/it]
 62%|██████▏   | 559/900 [1:32:30<22:44,  4.00s/it]
 62%|██████▏   | 560/900 [1:32:30<16:16,  2.87s/it]
 62%|██████▏   | 561/900 [1:33:21<1:37:18, 17.22s/it]
 62%|██████▏   | 562/900 [1:33:21<1:08:19, 12.13s/it]
 63%|██████▎   | 563/900 [1:33:21<48:05,  8.56s/it]  
 63%|██████▎   | 564/900 [1:33:21<33:58,  6.07s/it]
 63%|██████▎   | 565/900 [1:33:22<24:06,  4.32s/it]
 63%|██████▎   | 566/900 [1:33:22<17:12,  3.09s/it]
 63%|██████▎   | 567/900 [1:33:22<12:24,  2.23s/it]
 63%|██████▎   | 568/900 [1:33:22<09:02,  1.63s/it]
 63%|██████▎   | 569/900 [1:33:58<1:04:22, 11.67s/it]
 63%|██████▎   | 570/900 [1:33:58<45:19,  8.24s/it]  
 63%|██████▎   | 571/900 [1:33:58<32:00,  5.84s/it]
 64%|██████▎   | 572/900 [1:33:58<22:42,  4.16s/it]
 64%|██████▎   | 573/900 [1:33:58<16:14,  2.98s/it]
 64%|██████▍   | 574/900 [1:33:59<11:42,  2.16s/it]
 64%|██████▍   | 575/900 [1:33:59<08:33,  1.58s/it]
 64%|██████▍   | 576/900 [1:33:59<06:21,  1.18s/it]
 64%|██████▍   | 577/900 [1:35:03<1:47:35, 19.99s/it]
 64%|██████▍   | 578/900 [1:35:03<1:15:28, 14.06s/it]
 64%|██████▍   | 579/900 [1:35:04<53:03,  9.92s/it]  
 64%|██████▍   | 580/900 [1:35:04<37:23,  7.01s/it]
 65%|██████▍   | 581/900 [1:35:04<26:28,  4.98s/it]
 65%|██████▍   | 582/900 [1:35:04<18:51,  3.56s/it]
 65%|██████▍   | 583/900 [1:35:04<13:32,  2.56s/it]
 65%|██████▍   | 584/900 [1:35:05<09:48,  1.86s/it]
 65%|██████▌   | 585/900 [1:35:51<1:20:14, 15.28s/it]
 65%|██████▌   | 586/900 [1:35:52<56:21, 10.77s/it]  
 65%|██████▌   | 587/900 [1:35:52<39:42,  7.61s/it]
 65%|██████▌   | 588/900 [1:35:52<28:05,  5.40s/it]
 65%|██████▌   | 589/900 [1:35:52<19:57,  3.85s/it]
 66%|██████▌   | 590/900 [1:35:53<14:17,  2.77s/it]
 66%|██████▌   | 591/900 [1:35:53<10:20,  2.01s/it]
 66%|██████▌   | 592/900 [1:35:53<07:35,  1.48s/it]
 66%|██████▌   | 593/900 [1:39:11<5:09:31, 60.49s/it]
 66%|██████▌   | 594/900 [1:39:11<3:36:19, 42.42s/it]
 66%|██████▌   | 595/900 [1:39:12<2:31:17, 29.76s/it]
 66%|██████▌   | 596/900 [1:39:12<1:45:55, 20.91s/it]
 66%|██████▋   | 597/900 [1:39:12<1:14:15, 14.71s/it]
 66%|██████▋   | 598/900 [1:39:12<52:10, 10.36s/it]  
 67%|██████▋   | 599/900 [1:39:13<36:45,  7.33s/it]
 67%|██████▋   | 600/900 [1:39:13<26:00,  5.20s/it]
 67%|██████▋   | 601/900 [1:44:15<7:49:33, 94.22s/it]
 67%|██████▋   | 602/900 [1:44:15<5:27:58, 66.03s/it]
 67%|██████▋   | 603/900 [1:44:15<3:49:11, 46.30s/it]
 67%|██████▋   | 604/900 [1:44:16<2:40:16, 32.49s/it]
 67%|██████▋   | 605/900 [1:44:16<1:52:11, 22.82s/it]
 67%|██████▋   | 606/900 [1:44:16<1:18:38, 16.05s/it]
 67%|██████▋   | 607/900 [1:44:16<55:13, 11.31s/it]  
 68%|██████▊   | 608/900 [1:44:17<38:53,  7.99s/it]
 68%|██████▊   | 609/900 [1:44:51<1:17:23, 15.96s/it]
 68%|██████▊   | 610/900 [1:44:51<54:21, 11.25s/it]  
 68%|██████▊   | 611/900 [1:44:52<38:18,  7.95s/it]
 68%|██████▊   | 612/900 [1:44:52<27:05,  5.64s/it]
 68%|██████▊   | 613/900 [1:44:52<19:14,  4.02s/it]
 68%|██████▊   | 614/900 [1:44:52<13:45,  2.89s/it]
 68%|██████▊   | 615/900 [1:44:53<09:55,  2.09s/it]
 68%|██████▊   | 616/900 [1:44:53<07:15,  1.53s/it]
 69%|██████▊   | 617/900 [1:45:33<1:01:19, 13.00s/it]
 69%|██████▊   | 618/900 [1:45:33<43:06,  9.17s/it]  
 69%|██████▉   | 619/900 [1:45:33<30:24,  6.49s/it]
 69%|██████▉   | 620/900 [1:45:33<21:32,  4.62s/it]
 69%|██████▉   | 621/900 [1:45:34<15:21,  3.30s/it]
 69%|██████▉   | 622/900 [1:45:34<11:02,  2.38s/it]
 69%|██████▉   | 623/900 [1:45:34<08:01,  1.74s/it]
 69%|██████▉   | 624/900 [1:45:34<05:55,  1.29s/it]
 69%|██████▉   | 625/900 [1:46:20<1:07:04, 14.64s/it]
 70%|██████▉   | 626/900 [1:46:20<47:06, 10.32s/it]  
 70%|██████▉   | 627/900 [1:46:21<33:10,  7.29s/it]
 70%|██████▉   | 628/900 [1:46:21<23:29,  5.18s/it]
 70%|██████▉   | 629/900 [1:46:21<16:44,  3.71s/it]
 70%|███████   | 630/900 [1:46:21<12:01,  2.67s/it]
 70%|███████   | 631/900 [1:46:22<08:43,  1.95s/it]
 70%|███████   | 632/900 [1:46:22<06:25,  1.44s/it]
 70%|███████   | 633/900 [1:48:12<2:32:03, 34.17s/it]
 70%|███████   | 634/900 [1:48:13<1:46:23, 24.00s/it]
 71%|███████   | 635/900 [1:48:13<1:14:31, 16.87s/it]
 71%|███████   | 636/900 [1:48:13<52:17, 11.88s/it]  
 71%|███████   | 637/900 [1:48:13<36:47,  8.39s/it]
 71%|███████   | 638/900 [1:48:14<25:58,  5.95s/it]
 71%|███████   | 639/900 [1:48:14<18:26,  4.24s/it]
 71%|███████   | 640/900 [1:48:14<13:11,  3.04s/it]
 71%|███████   | 641/900 [1:53:43<7:15:08, 100.81s/it]
 71%|███████▏  | 642/900 [1:53:43<5:03:45, 70.64s/it] 
 71%|███████▏  | 643/900 [1:53:44<3:32:07, 49.52s/it]
 72%|███████▏  | 644/900 [1:53:44<2:28:14, 34.74s/it]
 72%|███████▏  | 645/900 [1:53:44<1:43:42, 24.40s/it]
 72%|███████▏  | 646/900 [1:53:44<1:12:38, 17.16s/it]
 72%|███████▏  | 647/900 [1:53:45<50:58, 12.09s/it]  
 72%|███████▏  | 648/900 [1:53:45<35:50,  8.53s/it]
 72%|███████▏  | 649/900 [1:55:02<2:02:10, 29.21s/it]
 72%|███████▏  | 650/900 [1:55:02<1:25:29, 20.52s/it]
 72%|███████▏  | 651/900 [1:55:03<59:54, 14.43s/it]  
 72%|███████▏  | 652/900 [1:55:03<42:03, 10.18s/it]
 73%|███████▎  | 653/900 [1:55:03<29:37,  7.20s/it]
 73%|███████▎  | 654/900 [1:55:03<20:56,  5.11s/it]
 73%|███████▎  | 655/900 [1:55:04<14:54,  3.65s/it]
 73%|███████▎  | 656/900 [1:55:04<10:41,  2.63s/it]
 73%|███████▎  | 657/900 [1:56:00<1:15:47, 18.71s/it]
 73%|███████▎  | 658/900 [1:56:00<53:07, 13.17s/it]  
 73%|███████▎  | 659/900 [1:56:01<37:18,  9.29s/it]
 73%|███████▎  | 660/900 [1:56:01<26:17,  6.57s/it]
 73%|███████▎  | 661/900 [1:56:01<18:36,  4.67s/it]
 74%|███████▎  | 662/900 [1:56:01<13:15,  3.34s/it]
 74%|███████▎  | 663/900 [1:56:02<09:31,  2.41s/it]
 74%|███████▍  | 664/900 [1:56:02<06:55,  1.76s/it]
 74%|███████▍  | 665/900 [1:56:51<1:02:16, 15.90s/it]
 74%|███████▍  | 666/900 [1:56:51<43:40, 11.20s/it]  
 74%|███████▍  | 667/900 [1:56:51<30:42,  7.91s/it]
 74%|███████▍  | 668/900 [1:56:51<21:41,  5.61s/it]
 74%|███████▍  | 669/900 [1:56:52<15:23,  4.00s/it]
 74%|███████▍  | 670/900 [1:56:52<11:00,  2.87s/it]
 75%|███████▍  | 671/900 [1:56:52<07:56,  2.08s/it]
 75%|███████▍  | 672/900 [1:56:52<05:48,  1.53s/it]
 75%|███████▍  | 673/900 [1:58:22<1:45:34, 27.90s/it]
 75%|███████▍  | 674/900 [1:58:22<1:13:50, 19.60s/it]
 75%|███████▌  | 675/900 [1:58:22<51:43, 13.79s/it]  
 75%|███████▌  | 676/900 [1:58:23<36:18,  9.73s/it]
 75%|███████▌  | 677/900 [1:58:23<25:33,  6.88s/it]
 75%|███████▌  | 678/900 [1:58:23<18:04,  4.88s/it]
 75%|███████▌  | 679/900 [1:58:23<12:51,  3.49s/it]
 76%|███████▌  | 680/900 [1:58:23<09:12,  2.51s/it]
 76%|███████▌  | 681/900 [2:01:45<3:46:35, 62.08s/it]
 76%|███████▌  | 682/900 [2:01:45<2:38:09, 43.53s/it]
 76%|███████▌  | 683/900 [2:01:45<1:50:27, 30.54s/it]
 76%|███████▌  | 684/900 [2:01:45<1:17:13, 21.45s/it]
 76%|███████▌  | 685/900 [2:01:46<54:03, 15.09s/it]  
 76%|███████▌  | 686/900 [2:01:46<37:54, 10.63s/it]
 76%|███████▋  | 687/900 [2:01:46<26:39,  7.51s/it]
 76%|███████▋  | 688/900 [2:01:46<18:49,  5.33s/it]
 77%|███████▋  | 689/900 [2:03:33<2:06:04, 35.85s/it]
 77%|███████▋  | 690/900 [2:03:34<1:28:05, 25.17s/it]
 77%|███████▋  | 691/900 [2:03:34<1:01:36, 17.69s/it]
 77%|███████▋  | 692/900 [2:03:34<43:10, 12.45s/it]  
 77%|███████▋  | 693/900 [2:03:34<30:18,  8.79s/it]
 77%|███████▋  | 694/900 [2:03:34<21:21,  6.22s/it]
 77%|███████▋  | 695/900 [2:03:35<15:07,  4.43s/it]
 77%|███████▋  | 696/900 [2:03:35<10:46,  3.17s/it]
 77%|███████▋  | 697/900 [2:15:25<12:08:30, 215.32s/it]
 78%|███████▊  | 698/900 [2:15:26<8:27:43, 150.81s/it] 
 78%|███████▊  | 699/900 [2:15:26<5:53:54, 105.64s/it]
 78%|███████▊  | 700/900 [2:15:26<4:06:45, 74.03s/it] 
 78%|███████▊  | 701/900 [2:15:26<2:52:07, 51.90s/it]
 78%|███████▊  | 702/900 [2:15:27<2:00:08, 36.41s/it]
 78%|███████▊  | 703/900 [2:15:27<1:23:55, 25.56s/it]
 78%|███████▊  | 704/900 [2:15:27<58:42, 17.97s/it]  
 78%|███████▊  | 705/900 [2:17:25<2:35:37, 47.89s/it]
 78%|███████▊  | 706/900 [2:17:25<1:48:38, 33.60s/it]
 79%|███████▊  | 707/900 [2:17:25<1:15:55, 23.60s/it]
 79%|███████▊  | 708/900 [2:17:26<53:07, 16.60s/it]  
 79%|███████▉  | 709/900 [2:17:26<37:15, 11.70s/it]
 79%|███████▉  | 710/900 [2:17:26<26:11,  8.27s/it]
 79%|███████▉  | 711/900 [2:17:26<18:29,  5.87s/it]
 79%|███████▉  | 712/900 [2:17:27<13:07,  4.19s/it]
 79%|███████▉  | 713/900 [2:18:20<59:23, 19.06s/it]
 79%|███████▉  | 714/900 [2:18:21<41:36, 13.42s/it]
 79%|███████▉  | 715/900 [2:18:21<29:12,  9.48s/it]
 80%|███████▉  | 716/900 [2:18:21<20:35,  6.71s/it]
 80%|███████▉  | 717/900 [2:18:21<14:34,  4.78s/it]
 80%|███████▉  | 718/900 [2:18:22<10:23,  3.42s/it]
 80%|███████▉  | 719/900 [2:18:22<07:27,  2.47s/it]
 80%|████████  | 720/900 [2:18:22<05:25,  1.81s/it]
 80%|████████  | 721/900 [2:19:07<43:23, 14.55s/it]
 80%|████████  | 722/900 [2:19:07<30:26, 10.26s/it]
 80%|████████  | 723/900 [2:19:07<21:25,  7.26s/it]
 80%|████████  | 724/900 [2:19:07<15:08,  5.16s/it]
 81%|████████  | 725/900 [2:19:08<10:46,  3.69s/it]
 81%|████████  | 726/900 [2:19:08<07:43,  2.66s/it]
 81%|████████  | 727/900 [2:19:08<05:35,  1.94s/it]
 81%|████████  | 728/900 [2:19:08<04:07,  1.44s/it]
 81%|████████  | 729/900 [2:22:04<2:33:16, 53.78s/it]
 81%|████████  | 730/900 [2:22:05<1:46:52, 37.72s/it]
 81%|████████  | 731/900 [2:22:05<1:14:33, 26.47s/it]
 81%|████████▏ | 732/900 [2:22:05<52:05, 18.60s/it]  
 81%|████████▏ | 733/900 [2:22:05<36:26, 13.09s/it]
 82%|████████▏ | 734/900 [2:22:05<25:33,  9.24s/it]
 82%|████████▏ | 735/900 [2:22:06<17:58,  6.53s/it]
 82%|████████▏ | 736/900 [2:22:06<12:42,  4.65s/it]
 82%|████████▏ | 737/900 [2:23:29<1:16:42, 28.24s/it]
 82%|████████▏ | 738/900 [2:23:29<53:33, 19.84s/it]  
 82%|████████▏ | 739/900 [2:23:30<37:27, 13.96s/it]
 82%|████████▏ | 740/900 [2:23:30<26:14,  9.84s/it]
 82%|████████▏ | 741/900 [2:23:30<18:26,  6.96s/it]
 82%|████████▏ | 742/900 [2:23:30<13:00,  4.94s/it]
 83%|████████▎ | 743/900 [2:23:31<09:14,  3.53s/it]
 83%|████████▎ | 744/900 [2:23:31<06:36,  2.54s/it]
 83%|████████▎ | 745/900 [2:25:19<1:28:10, 34.13s/it]
 83%|████████▎ | 746/900 [2:25:19<1:01:30, 23.97s/it]
 83%|████████▎ | 747/900 [2:25:19<42:57, 16.85s/it]  
 83%|████████▎ | 748/900 [2:25:19<30:03, 11.86s/it]
 83%|████████▎ | 749/900 [2:25:20<21:04,  8.37s/it]
 83%|████████▎ | 750/900 [2:25:20<14:49,  5.93s/it]
 83%|████████▎ | 751/900 [2:25:20<10:29,  4.22s/it]
 84%|████████▎ | 752/900 [2:25:20<07:27,  3.03s/it]
 84%|████████▎ | 753/900 [2:32:26<5:18:07, 129.84s/it]
 84%|████████▍ | 754/900 [2:32:26<3:41:20, 90.96s/it] 
 84%|████████▍ | 755/900 [2:32:27<2:34:02, 63.74s/it]
 84%|████████▍ | 756/900 [2:32:27<1:47:15, 44.69s/it]
 84%|████████▍ | 757/900 [2:32:27<1:14:43, 31.35s/it]
 84%|████████▍ | 758/900 [2:32:27<52:06, 22.02s/it]  
 84%|████████▍ | 759/900 [2:32:28<36:24, 15.49s/it]
 84%|████████▍ | 760/900 [2:32:28<25:29, 10.92s/it]
 85%|████████▍ | 761/900 [2:33:34<1:03:27, 27.39s/it]
 85%|████████▍ | 762/900 [2:33:34<44:17, 19.26s/it]  
 85%|████████▍ | 763/900 [2:33:34<30:57, 13.56s/it]
 85%|████████▍ | 764/900 [2:33:34<21:41,  9.57s/it]
 85%|████████▌ | 765/900 [2:33:35<15:14,  6.77s/it]
 85%|████████▌ | 766/900 [2:33:35<10:44,  4.81s/it]
 85%|████████▌ | 767/900 [2:33:35<07:37,  3.44s/it]
 85%|████████▌ | 768/900 [2:33:35<05:26,  2.48s/it]
 85%|████████▌ | 769/900 [2:41:53<5:29:24, 150.88s/it]
 86%|████████▌ | 770/900 [2:41:53<3:48:58, 105.68s/it]
 86%|████████▌ | 771/900 [2:41:53<2:39:12, 74.05s/it] 
 86%|████████▌ | 772/900 [2:41:53<1:50:44, 51.91s/it]
 86%|████████▌ | 773/900 [2:41:53<1:17:03, 36.41s/it]
 86%|████████▌ | 774/900 [2:41:54<53:39, 25.55s/it]  
 86%|████████▌ | 775/900 [2:41:54<37:24, 17.96s/it]
 86%|████████▌ | 776/900 [2:41:54<26:07, 12.64s/it]
 86%|████████▋ | 777/900 [2:42:42<47:43, 23.28s/it]
 86%|████████▋ | 778/900 [2:42:43<33:16, 16.37s/it]
 87%|████████▋ | 779/900 [2:42:43<23:14, 11.53s/it]
 87%|████████▋ | 780/900 [2:42:43<16:16,  8.14s/it]
 87%|████████▋ | 781/900 [2:42:43<11:26,  5.77s/it]
 87%|████████▋ | 782/900 [2:42:43<08:04,  4.11s/it]
 87%|████████▋ | 783/900 [2:42:44<05:44,  2.95s/it]
 87%|████████▋ | 784/900 [2:42:44<04:07,  2.14s/it]
 87%|████████▋ | 785/900 [2:46:59<2:29:25, 77.96s/it]
 87%|████████▋ | 786/900 [2:46:59<1:43:50, 54.65s/it]
 87%|████████▋ | 787/900 [2:46:59<1:12:11, 38.33s/it]
 88%|████████▊ | 788/900 [2:47:00<50:13, 26.91s/it]  
 88%|████████▊ | 789/900 [2:47:00<34:58, 18.91s/it]
 88%|████████▊ | 790/900 [2:47:00<24:24, 13.31s/it]
 88%|████████▊ | 791/900 [2:47:00<17:04,  9.39s/it]
 88%|████████▊ | 792/900 [2:47:01<11:58,  6.65s/it]
 88%|████████▊ | 793/900 [2:57:44<5:52:16, 197.54s/it]
 88%|████████▊ | 794/900 [2:57:44<4:04:25, 138.35s/it]
 88%|████████▊ | 795/900 [2:57:44<2:49:37, 96.92s/it] 
 88%|████████▊ | 796/900 [2:57:44<1:57:44, 67.92s/it]
 89%|████████▊ | 797/900 [2:57:45<1:21:45, 47.62s/it]
 89%|████████▊ | 798/900 [2:57:45<56:47, 33.41s/it]  
 89%|████████▉ | 799/900 [2:57:45<39:29, 23.46s/it]
 89%|████████▉ | 800/900 [2:57:45<27:29, 16.50s/it]
 89%|████████▉ | 801/900 [3:06:00<4:24:04, 160.05s/it]
 89%|████████▉ | 802/900 [3:06:01<3:03:06, 112.11s/it]
 89%|████████▉ | 803/900 [3:06:01<2:07:00, 78.56s/it] 
 89%|████████▉ | 804/900 [3:06:01<1:28:06, 55.07s/it]
 89%|████████▉ | 805/900 [3:06:01<1:01:10, 38.63s/it]
 90%|████████▉ | 806/900 [3:06:02<42:29, 27.12s/it]  
 90%|████████▉ | 807/900 [3:06:02<29:33, 19.07s/it]
 90%|████████▉ | 808/900 [3:06:02<20:35, 13.43s/it]
 90%|████████▉ | 809/900 [3:10:35<2:18:22, 91.24s/it]
 90%|█████████ | 810/900 [3:10:35<1:35:55, 63.95s/it]
 90%|█████████ | 811/900 [3:10:36<1:06:31, 44.84s/it]
 90%|█████████ | 812/900 [3:10:36<46:09, 31.47s/it]  
 90%|█████████ | 813/900 [3:10:36<32:03, 22.11s/it]
 90%|█████████ | 814/900 [3:10:36<22:17, 15.56s/it]
 91%|█████████ | 815/900 [3:10:37<15:32, 10.97s/it]
 91%|█████████ | 816/900 [3:10:37<10:52,  7.76s/it]
 91%|█████████ | 817/900 [3:13:44<1:25:06, 61.52s/it]
 91%|█████████ | 818/900 [3:13:44<58:58, 43.15s/it]  
 91%|█████████ | 819/900 [3:13:44<40:52, 30.28s/it]
 91%|█████████ | 820/900 [3:13:45<28:22, 21.28s/it]
 91%|█████████ | 821/900 [3:13:45<19:42, 14.97s/it]
 91%|█████████▏| 822/900 [3:13:45<13:43, 10.56s/it]
 91%|█████████▏| 823/900 [3:13:45<09:35,  7.47s/it]
 92%|█████████▏| 824/900 [3:13:46<06:43,  5.31s/it]
 92%|█████████▏| 825/900 [3:16:12<59:28, 47.58s/it]
 92%|█████████▏| 826/900 [3:16:12<41:10, 33.38s/it]
 92%|█████████▏| 827/900 [3:16:12<28:31, 23.44s/it]
 92%|█████████▏| 828/900 [3:16:13<19:46, 16.48s/it]
 92%|█████████▏| 829/900 [3:16:13<13:44, 11.61s/it]
 92%|█████████▏| 830/900 [3:16:13<09:33,  8.20s/it]
 92%|█████████▏| 831/900 [3:16:13<06:40,  5.81s/it]
 92%|█████████▏| 832/900 [3:16:14<04:41,  4.14s/it]
 93%|█████████▎| 833/900 [3:23:09<2:22:24, 127.54s/it]
 93%|█████████▎| 834/900 [3:23:09<1:38:16, 89.34s/it] 
 93%|█████████▎| 835/900 [3:23:10<1:07:49, 62.61s/it]
 93%|█████████▎| 836/900 [3:23:10<46:49, 43.90s/it]  
 93%|█████████▎| 837/900 [3:23:10<32:20, 30.80s/it]
 93%|█████████▎| 838/900 [3:23:10<22:21, 21.63s/it]
 93%|█████████▎| 839/900 [3:23:10<15:27, 15.21s/it]
 93%|█████████▎| 840/900 [3:23:11<10:43, 10.72s/it]
 93%|█████████▎| 841/900 [3:30:31<2:17:18, 139.63s/it]
 94%|█████████▎| 842/900 [3:30:31<1:34:33, 97.81s/it] 
 94%|█████████▎| 843/900 [3:30:32<1:05:06, 68.54s/it]
 94%|█████████▍| 844/900 [3:30:32<44:50, 48.05s/it]  
 94%|█████████▍| 845/900 [3:30:32<30:53, 33.71s/it]
 94%|█████████▍| 846/900 [3:30:32<21:17, 23.67s/it]
 94%|█████████▍| 847/900 [3:30:33<14:41, 16.64s/it]
 94%|█████████▍| 848/900 [3:30:33<10:09, 11.71s/it]
 94%|█████████▍| 849/900 [3:34:56<1:14:03, 87.12s/it]
 94%|█████████▍| 850/900 [3:34:56<50:53, 61.06s/it]  
 95%|█████████▍| 851/900 [3:34:56<34:58, 42.82s/it]
 95%|█████████▍| 852/900 [3:34:57<24:02, 30.05s/it]
 95%|█████████▍| 853/900 [3:34:57<16:32, 21.11s/it]
 95%|█████████▍| 854/900 [3:34:57<11:23, 14.85s/it]
 95%|█████████▌| 855/900 [3:34:57<07:51, 10.47s/it]
 95%|█████████▌| 856/900 [3:34:58<05:25,  7.40s/it]
 95%|█████████▌| 857/900 [3:41:02<1:22:09, 114.65s/it]
 95%|█████████▌| 858/900 [3:41:03<56:14, 80.33s/it]   
 95%|█████████▌| 859/900 [3:41:03<38:28, 56.32s/it]
 96%|█████████▌| 860/900 [3:41:03<26:20, 39.50s/it]
 96%|█████████▌| 861/900 [3:41:04<18:01, 27.73s/it]
 96%|█████████▌| 862/900 [3:41:04<12:20, 19.49s/it]
 96%|█████████▌| 863/900 [3:41:04<08:27, 13.73s/it]
 96%|█████████▌| 864/900 [3:41:04<05:48,  9.69s/it]
 96%|█████████▌| 865/900 [3:47:28<1:11:10, 122.00s/it]
 96%|█████████▌| 866/900 [3:47:29<48:26, 85.48s/it]   
 96%|█████████▋| 867/900 [3:47:29<32:57, 59.91s/it]
 96%|█████████▋| 868/900 [3:47:29<22:24, 42.02s/it]
 97%|█████████▋| 869/900 [3:47:29<15:14, 29.49s/it]
 97%|█████████▋| 870/900 [3:47:30<10:21, 20.72s/it]
 97%|█████████▋| 871/900 [3:47:30<07:02, 14.58s/it]
 97%|█████████▋| 872/900 [3:47:30<04:48, 10.29s/it]
 97%|█████████▋| 873/900 [3:48:52<14:13, 31.60s/it]
 97%|█████████▋| 874/900 [3:48:52<09:37, 22.20s/it]
 97%|█████████▋| 875/900 [3:48:52<06:30, 15.62s/it]
 97%|█████████▋| 876/900 [3:48:52<04:24, 11.01s/it]
 97%|█████████▋| 877/900 [3:48:53<02:59,  7.79s/it]
 98%|█████████▊| 878/900 [3:48:53<02:01,  5.54s/it]
 98%|█████████▊| 879/900 [3:48:53<01:23,  3.96s/it]
 98%|█████████▊| 880/900 [3:48:53<00:56,  2.85s/it]
 98%|█████████▊| 881/900 [3:50:20<08:50, 27.95s/it]
 98%|█████████▊| 882/900 [3:50:20<05:53, 19.64s/it]
 98%|█████████▊| 883/900 [3:50:20<03:55, 13.83s/it]
 98%|█████████▊| 884/900 [3:50:21<02:36,  9.76s/it]
 98%|█████████▊| 885/900 [3:50:21<01:43,  6.91s/it]
 98%|█████████▊| 886/900 [3:50:21<01:08,  4.92s/it]
 99%|█████████▊| 887/900 [3:50:22<00:45,  3.52s/it]
 99%|█████████▊| 888/900 [3:50:22<00:30,  2.54s/it]
 99%|█████████▉| 889/900 [3:59:59<32:03, 174.88s/it]
 99%|█████████▉| 890/900 [3:59:59<20:24, 122.48s/it]
 99%|█████████▉| 891/900 [3:59:59<12:52, 85.81s/it] 
 99%|█████████▉| 892/900 [3:59:59<08:01, 60.14s/it]
 99%|█████████▉| 893/900 [4:00:00<04:55, 42.17s/it]
 99%|█████████▉| 894/900 [4:00:00<02:57, 29.59s/it]
 99%|█████████▉| 895/900 [4:00:00<01:43, 20.78s/it]
100%|█████████▉| 896/900 [4:00:00<00:58, 14.62s/it]
100%|█████████▉| 897/900 [4:12:07<11:24, 228.24s/it]
100%|█████████▉| 898/900 [4:12:07<05:19, 159.84s/it]
100%|█████████▉| 899/900 [4:12:08<01:51, 111.96s/it]
100%|█████████▉| 899/900 [4:12:08<00:16, 16.83s/it] 
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json.
+BananaThenRubiksCubeTask_0 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_0, run: 0, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.906405705016855, 'joint_sparc_mean': -15.341511890761726, 'ee_isj': 2880.168620883982, 'joint_isj': 83230.05123626819, 'ee_path_length': 5.948584896058257, 'joint_rmse_mean': 1.09342026850194, 'ee_speed_max': 0.3905939757823944, 'ee_speed_mean': 0.09416461735963821}, events: {'GRIPPER_HIT_OBJECT': 3, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 7, 'WRONG_OBJECT_GRABBED': 12, 'GRIPPER_FULLY_CLOSED': 6, 'OBJECT_BUMPED': 9, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['rubiks_cube', 'rubiks_cube', 'rubiks_cube', 'rubiks_cube', 'rubiks_cube', 'banana', 'banana', 'rubiks_cube', 'banana', 'bowl', 'banana', 'banana']}, instruction_type: default, timing: {'policy_inference_s': 14931.36, 'policy_inference_avg_ms': 16590.4, 'env_step_s': 189.789, 'env_step_avg_ms': 210.9, 'video_write_s': 6.736, 'video_write_avg_ms': 7.5, 'wall_total_s': 15127.885, 'it_per_sec': 0.06}, score: 1.0, reason: Condition not satisfied: object_in_container(object=rubiks_cube, container=bowl, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: ca043ad07a174ad89f57a0e745be3d5c-0
+[RoboLab] Running BananaThenRubiksCubeTask_1: 'put the banana then the cube in the bowl' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:48<12:00:46, 48.11s/it]
  0%|          | 2/900 [00:48<4:58:35, 19.95s/it] 
  0%|          | 3/900 [00:48<2:43:38, 10.95s/it]
  0%|          | 4/900 [00:48<1:40:18,  6.72s/it]
  1%|          | 5/900 [00:49<1:05:20,  4.38s/it]
  1%|          | 6/900 [00:49<44:14,  2.97s/it]  
  1%|          | 7/900 [00:49<30:53,  2.08s/it]
  1%|          | 8/900 [00:49<22:08,  1.49s/it]
  1%|          | 9/900 [01:03<1:17:51,  5.24s/it]
  1%|          | 10/900 [01:03<54:49,  3.70s/it] 
  1%|          | 11/900 [01:03<39:04,  2.64s/it]
  1%|▏         | 12/900 [01:03<28:12,  1.91s/it]
  1%|▏         | 13/900 [01:04<20:41,  1.40s/it]
  2%|▏         | 14/900 [01:04<15:27,  1.05s/it]
  2%|▏         | 15/900 [01:04<11:49,  1.25it/s]
  2%|▏         | 16/900 [01:04<09:17,  1.59it/s]
  2%|▏         | 17/900 [01:21<1:21:44,  5.55s/it]
  2%|▏         | 18/900 [01:22<58:08,  3.95s/it]  
  2%|▏         | 19/900 [01:22<41:39,  2.84s/it]
  2%|▏         | 20/900 [01:22<30:08,  2.06s/it]
  2%|▏         | 21/900 [01:22<22:06,  1.51s/it]
  2%|▏         | 22/900 [01:23<16:29,  1.13s/it]
  3%|▎         | 23/900 [01:23<12:33,  1.16it/s]
  3%|▎         | 24/900 [01:23<09:48,  1.49it/s]
  3%|▎         | 25/900 [01:44<1:38:35,  6.76s/it]
  3%|▎         | 26/900 [01:44<1:10:00,  4.81s/it]
  3%|▎         | 27/900 [01:44<49:58,  3.43s/it]  
  3%|▎         | 28/900 [01:45<35:57,  2.47s/it]
  3%|▎         | 29/900 [01:45<26:08,  1.80s/it]
  3%|▎         | 30/900 [01:45<19:18,  1.33s/it]
  3%|▎         | 31/900 [01:45<14:30,  1.00s/it]
  4%|▎         | 32/900 [01:46<11:09,  1.30it/s]
  4%|▎         | 33/900 [02:11<1:58:06,  8.17s/it]
  4%|▍         | 34/900 [02:11<1:23:34,  5.79s/it]
  4%|▍         | 35/900 [02:12<59:25,  4.12s/it]  
  4%|▍         | 36/900 [02:12<42:32,  2.95s/it]
  4%|▍         | 37/900 [02:12<30:45,  2.14s/it]
  4%|▍         | 38/900 [02:12<22:32,  1.57s/it]
  4%|▍         | 39/900 [02:12<16:46,  1.17s/it]
  4%|▍         | 40/900 [02:13<12:43,  1.13it/s]
  5%|▍         | 41/900 [02:32<1:32:23,  6.45s/it]
  5%|▍         | 42/900 [02:32<1:05:36,  4.59s/it]
  5%|▍         | 43/900 [02:33<46:51,  3.28s/it]  
  5%|▍         | 44/900 [02:33<33:45,  2.37s/it]
  5%|▌         | 45/900 [02:33<24:35,  1.73s/it]
  5%|▌         | 46/900 [02:33<18:11,  1.28s/it]
  5%|▌         | 47/900 [02:34<13:42,  1.04it/s]
  5%|▌         | 48/900 [02:34<10:34,  1.34it/s]
  5%|▌         | 49/900 [02:48<1:08:03,  4.80s/it]
  6%|▌         | 50/900 [02:48<48:34,  3.43s/it]  
  6%|▌         | 51/900 [02:49<34:57,  2.47s/it]
  6%|▌         | 52/900 [02:49<25:25,  1.80s/it]
  6%|▌         | 53/900 [02:49<18:46,  1.33s/it]
  6%|▌         | 54/900 [02:49<14:05,  1.00it/s]
  6%|▌         | 55/900 [02:49<10:49,  1.30it/s]
  6%|▌         | 56/900 [02:50<08:32,  1.65it/s]
  6%|▋         | 57/900 [04:11<5:47:21, 24.72s/it]
  6%|▋         | 58/900 [04:11<4:03:50, 17.38s/it]
  7%|▋         | 59/900 [04:11<2:51:28, 12.23s/it]
  7%|▋         | 60/900 [04:11<2:00:51,  8.63s/it]
  7%|▋         | 61/900 [04:12<1:25:29,  6.11s/it]
  7%|▋         | 62/900 [04:12<1:00:45,  4.35s/it]
  7%|▋         | 63/900 [04:12<43:33,  3.12s/it]  
  7%|▋         | 64/900 [04:12<31:31,  2.26s/it]
  7%|▋         | 65/900 [05:16<4:49:08, 20.78s/it]
  7%|▋         | 66/900 [05:17<3:23:11, 14.62s/it]
  7%|▋         | 67/900 [05:17<2:23:02, 10.30s/it]
  8%|▊         | 68/900 [05:17<1:40:58,  7.28s/it]
  8%|▊         | 69/900 [05:17<1:11:33,  5.17s/it]
  8%|▊         | 70/900 [05:17<50:59,  3.69s/it]  
  8%|▊         | 71/900 [05:18<36:37,  2.65s/it]
  8%|▊         | 72/900 [05:18<26:34,  1.93s/it]
  8%|▊         | 73/900 [05:36<1:32:32,  6.71s/it]
  8%|▊         | 74/900 [05:36<1:05:39,  4.77s/it]
  8%|▊         | 75/900 [05:36<46:52,  3.41s/it]  
  8%|▊         | 76/900 [05:37<33:43,  2.46s/it]
  9%|▊         | 77/900 [05:37<24:32,  1.79s/it]
  9%|▊         | 78/900 [05:37<18:05,  1.32s/it]
  9%|▉         | 79/900 [05:37<13:36,  1.01it/s]
  9%|▉         | 80/900 [05:37<10:28,  1.31it/s]
  9%|▉         | 81/900 [06:01<1:41:55,  7.47s/it]
  9%|▉         | 82/900 [06:01<1:12:13,  5.30s/it]
  9%|▉         | 83/900 [06:01<51:26,  3.78s/it]  
  9%|▉         | 84/900 [06:01<36:55,  2.71s/it]
  9%|▉         | 85/900 [06:02<26:46,  1.97s/it]
 10%|▉         | 86/900 [06:02<19:40,  1.45s/it]
 10%|▉         | 87/900 [06:02<14:41,  1.08s/it]
 10%|▉         | 88/900 [06:02<11:13,  1.21it/s]
 10%|▉         | 89/900 [06:35<2:19:31, 10.32s/it]
 10%|█         | 90/900 [06:35<1:38:29,  7.30s/it]
 10%|█         | 91/900 [06:35<1:09:49,  5.18s/it]
 10%|█         | 92/900 [06:35<49:45,  3.69s/it]  
 10%|█         | 93/900 [06:36<35:43,  2.66s/it]
 10%|█         | 94/900 [06:36<25:55,  1.93s/it]
 11%|█         | 95/900 [06:36<19:03,  1.42s/it]
 11%|█         | 96/900 [06:36<14:15,  1.06s/it]
 11%|█         | 97/900 [07:31<3:50:39, 17.23s/it]
 11%|█         | 98/900 [07:32<2:42:12, 12.13s/it]
 11%|█         | 99/900 [07:32<1:54:18,  8.56s/it]
 11%|█         | 100/900 [07:32<1:20:51,  6.06s/it]
 11%|█         | 101/900 [07:32<57:27,  4.32s/it]  
 11%|█▏        | 102/900 [07:32<41:06,  3.09s/it]
 11%|█▏        | 103/900 [07:33<29:40,  2.23s/it]
 12%|█▏        | 104/900 [07:33<21:41,  1.64s/it]
 12%|█▏        | 105/900 [09:12<6:48:16, 30.81s/it]
 12%|█▏        | 106/900 [09:12<4:46:21, 21.64s/it]
 12%|█▏        | 107/900 [09:12<3:21:08, 15.22s/it]
 12%|█▏        | 108/900 [09:13<2:21:39, 10.73s/it]
 12%|█▏        | 109/900 [09:13<1:40:01,  7.59s/it]
 12%|█▏        | 110/900 [09:13<1:10:56,  5.39s/it]
 12%|█▏        | 111/900 [09:13<50:33,  3.85s/it]  
 12%|█▏        | 112/900 [09:14<36:20,  2.77s/it]
 13%|█▎        | 113/900 [11:13<8:14:47, 37.72s/it]
 13%|█▎        | 114/900 [11:13<5:46:56, 26.48s/it]
 13%|█▎        | 115/900 [11:13<4:03:35, 18.62s/it]
 13%|█▎        | 116/900 [11:14<2:51:19, 13.11s/it]
 13%|█▎        | 117/900 [11:14<2:00:48,  9.26s/it]
 13%|█▎        | 118/900 [11:14<1:25:29,  6.56s/it]
 13%|█▎        | 119/900 [11:14<1:00:47,  4.67s/it]
 13%|█▎        | 120/900 [11:15<43:31,  3.35s/it]  
 13%|█▎        | 121/900 [12:05<3:45:15, 17.35s/it]
 14%|█▎        | 122/900 [12:05<2:38:30, 12.22s/it]
 14%|█▎        | 123/900 [12:05<1:51:50,  8.64s/it]
 14%|█▍        | 124/900 [12:05<1:19:13,  6.13s/it]
 14%|█▍        | 125/900 [12:06<56:24,  4.37s/it]  
 14%|█▍        | 126/900 [12:06<40:28,  3.14s/it]
 14%|█▍        | 127/900 [12:06<29:18,  2.28s/it]
 14%|█▍        | 128/900 [12:07<21:30,  1.67s/it]
 14%|█▍        | 129/900 [13:14<4:36:04, 21.48s/it]
 14%|█▍        | 130/900 [13:15<3:14:00, 15.12s/it]
 15%|█▍        | 131/900 [13:15<2:16:38, 10.66s/it]
 15%|█▍        | 132/900 [13:15<1:36:32,  7.54s/it]
 15%|█▍        | 133/900 [13:15<1:08:28,  5.36s/it]
 15%|█▍        | 134/900 [13:16<48:52,  3.83s/it]  
 15%|█▌        | 135/900 [13:16<35:11,  2.76s/it]
 15%|█▌        | 136/900 [13:16<25:35,  2.01s/it]
 15%|█▌        | 137/900 [14:24<4:38:05, 21.87s/it]
 15%|█▌        | 138/900 [14:25<3:15:20, 15.38s/it]
 15%|█▌        | 139/900 [14:25<2:17:30, 10.84s/it]
 16%|█▌        | 140/900 [14:25<1:37:04,  7.66s/it]
 16%|█▌        | 141/900 [14:25<1:08:47,  5.44s/it]
 16%|█▌        | 142/900 [14:26<48:58,  3.88s/it]  
 16%|█▌        | 143/900 [14:26<35:08,  2.78s/it]
 16%|█▌        | 144/900 [14:26<25:27,  2.02s/it]
 16%|█▌        | 145/900 [14:55<2:07:38, 10.14s/it]
 16%|█▌        | 146/900 [14:55<1:30:10,  7.18s/it]
 16%|█▋        | 147/900 [14:56<1:03:59,  5.10s/it]
 16%|█▋        | 148/900 [14:56<45:39,  3.64s/it]  
 17%|█▋        | 149/900 [14:56<32:50,  2.62s/it]
 17%|█▋        | 150/900 [14:56<23:54,  1.91s/it]
 17%|█▋        | 151/900 [14:57<17:38,  1.41s/it]
 17%|█▋        | 152/900 [14:57<13:15,  1.06s/it]
 17%|█▋        | 153/900 [15:33<2:26:00, 11.73s/it]
 17%|█▋        | 154/900 [15:34<1:42:56,  8.28s/it]
 17%|█▋        | 155/900 [15:34<1:12:50,  5.87s/it]
 17%|█▋        | 156/900 [15:34<51:47,  4.18s/it]  
 17%|█▋        | 157/900 [15:34<37:04,  2.99s/it]
 18%|█▊        | 158/900 [15:35<26:46,  2.17s/it]
 18%|█▊        | 159/900 [15:35<19:34,  1.58s/it]
 18%|█▊        | 160/900 [15:35<14:31,  1.18s/it]
 18%|█▊        | 161/900 [16:05<2:02:20,  9.93s/it]
 18%|█▊        | 162/900 [16:06<1:26:23,  7.02s/it]
 18%|█▊        | 163/900 [16:06<1:01:14,  4.99s/it]
 18%|█▊        | 164/900 [16:06<43:40,  3.56s/it]  
 18%|█▊        | 165/900 [16:06<31:23,  2.56s/it]
 18%|█▊        | 166/900 [16:07<22:48,  1.86s/it]
 19%|█▊        | 167/900 [16:07<16:48,  1.38s/it]
 19%|█▊        | 168/900 [16:07<12:36,  1.03s/it]
 19%|█▉        | 169/900 [17:09<3:54:49, 19.27s/it]
 19%|█▉        | 170/900 [17:09<2:45:00, 13.56s/it]
 19%|█▉        | 171/900 [17:09<1:56:11,  9.56s/it]
 19%|█▉        | 172/900 [17:10<1:22:05,  6.77s/it]
 19%|█▉        | 173/900 [17:10<58:15,  4.81s/it]  
 19%|█▉        | 174/900 [17:10<41:35,  3.44s/it]
 19%|█▉        | 175/900 [17:10<29:55,  2.48s/it]
 20%|█▉        | 176/900 [17:11<21:45,  1.80s/it]
 20%|█▉        | 177/900 [17:40<2:00:10,  9.97s/it]
 20%|█▉        | 178/900 [17:40<1:24:52,  7.05s/it]
 20%|█▉        | 179/900 [17:40<1:00:12,  5.01s/it]
 20%|██        | 180/900 [17:40<42:57,  3.58s/it]  
 20%|██        | 181/900 [17:41<30:54,  2.58s/it]
 20%|██        | 182/900 [17:41<22:29,  1.88s/it]
 20%|██        | 183/900 [17:41<16:36,  1.39s/it]
 20%|██        | 184/900 [17:41<12:29,  1.05s/it]
 21%|██        | 185/900 [17:59<1:13:40,  6.18s/it]
 21%|██        | 186/900 [18:00<52:23,  4.40s/it]  
 21%|██        | 187/900 [18:00<37:33,  3.16s/it]
 21%|██        | 188/900 [18:00<27:08,  2.29s/it]
 21%|██        | 189/900 [18:01<19:52,  1.68s/it]
 21%|██        | 190/900 [18:01<14:45,  1.25s/it]
 21%|██        | 191/900 [18:01<11:11,  1.06it/s]
 21%|██▏       | 192/900 [18:01<08:39,  1.36it/s]
 21%|██▏       | 193/900 [19:03<3:44:07, 19.02s/it]
 22%|██▏       | 194/900 [19:03<2:37:29, 13.39s/it]
 22%|██▏       | 195/900 [19:03<1:50:55,  9.44s/it]
 22%|██▏       | 196/900 [19:04<1:18:21,  6.68s/it]
 22%|██▏       | 197/900 [19:04<55:35,  4.74s/it]  
 22%|██▏       | 198/900 [19:04<39:41,  3.39s/it]
 22%|██▏       | 199/900 [19:04<28:33,  2.44s/it]
 22%|██▏       | 200/900 [19:05<20:49,  1.78s/it]
 22%|██▏       | 201/900 [19:43<2:27:13, 12.64s/it]
 22%|██▏       | 202/900 [19:43<1:43:45,  8.92s/it]
 23%|██▎       | 203/900 [19:43<1:13:23,  6.32s/it]
 23%|██▎       | 204/900 [19:43<52:09,  4.50s/it]  
 23%|██▎       | 205/900 [19:44<37:19,  3.22s/it]
 23%|██▎       | 206/900 [19:44<26:56,  2.33s/it]
 23%|██▎       | 207/900 [19:44<19:43,  1.71s/it]
 23%|██▎       | 208/900 [19:44<14:40,  1.27s/it]
 23%|██▎       | 209/900 [20:08<1:31:49,  7.97s/it]
 23%|██▎       | 210/900 [20:08<1:05:00,  5.65s/it]
 23%|██▎       | 211/900 [20:08<46:14,  4.03s/it]  
 24%|██▎       | 212/900 [20:09<33:08,  2.89s/it]
 24%|██▎       | 213/900 [20:09<23:58,  2.09s/it]
 24%|██▍       | 214/900 [20:09<17:33,  1.54s/it]
 24%|██▍       | 215/900 [20:09<13:04,  1.15s/it]
 24%|██▍       | 216/900 [20:10<09:56,  1.15it/s]
 24%|██▍       | 217/900 [20:36<1:36:13,  8.45s/it]
 24%|██▍       | 218/900 [20:36<1:08:03,  5.99s/it]
 24%|██▍       | 219/900 [20:36<48:21,  4.26s/it]  
 24%|██▍       | 220/900 [20:36<34:35,  3.05s/it]
 25%|██▍       | 221/900 [20:37<24:58,  2.21s/it]
 25%|██▍       | 222/900 [20:37<18:15,  1.62s/it]
 25%|██▍       | 223/900 [20:37<13:33,  1.20s/it]
 25%|██▍       | 224/900 [20:37<10:16,  1.10it/s]
 25%|██▌       | 225/900 [21:57<4:36:33, 24.58s/it]
 25%|██▌       | 226/900 [21:57<3:14:06, 17.28s/it]
 25%|██▌       | 227/900 [21:58<2:16:27, 12.17s/it]
 25%|██▌       | 228/900 [21:58<1:36:10,  8.59s/it]
 25%|██▌       | 229/900 [21:58<1:07:59,  6.08s/it]
 26%|██▌       | 230/900 [21:58<48:19,  4.33s/it]  
 26%|██▌       | 231/900 [21:59<34:33,  3.10s/it]
 26%|██▌       | 232/900 [21:59<24:57,  2.24s/it]
 26%|██▌       | 233/900 [22:31<2:05:07, 11.25s/it]
 26%|██▌       | 234/900 [22:31<1:28:14,  7.95s/it]
 26%|██▌       | 235/900 [22:32<1:02:28,  5.64s/it]
 26%|██▌       | 236/900 [22:32<44:29,  4.02s/it]  
 26%|██▋       | 237/900 [22:32<31:54,  2.89s/it]
 26%|██▋       | 238/900 [22:32<23:09,  2.10s/it]
 27%|██▋       | 239/900 [22:33<17:01,  1.55s/it]
 27%|██▋       | 240/900 [22:33<12:44,  1.16s/it]
 27%|██▋       | 241/900 [23:36<3:35:46, 19.65s/it]
 27%|██▋       | 242/900 [23:36<2:31:40, 13.83s/it]
 27%|██▋       | 243/900 [23:36<1:46:51,  9.76s/it]
 27%|██▋       | 244/900 [23:36<1:15:30,  6.91s/it]
 27%|██▋       | 245/900 [23:37<53:35,  4.91s/it]  
 27%|██▋       | 246/900 [23:37<38:16,  3.51s/it]
 27%|██▋       | 247/900 [23:37<27:33,  2.53s/it]
 28%|██▊       | 248/900 [23:37<20:05,  1.85s/it]
 28%|██▊       | 249/900 [23:58<1:21:32,  7.52s/it]
 28%|██▊       | 250/900 [23:58<57:48,  5.34s/it]  
 28%|██▊       | 251/900 [23:59<41:11,  3.81s/it]
 28%|██▊       | 252/900 [23:59<29:37,  2.74s/it]
 28%|██▊       | 253/900 [23:59<21:33,  2.00s/it]
 28%|██▊       | 254/900 [23:59<15:54,  1.48s/it]
 28%|██▊       | 255/900 [24:00<11:56,  1.11s/it]
 28%|██▊       | 256/900 [24:00<09:09,  1.17it/s]
 29%|██▊       | 257/900 [25:09<3:50:08, 21.47s/it]
 29%|██▊       | 258/900 [25:10<2:41:41, 15.11s/it]
 29%|██▉       | 259/900 [25:10<1:53:51, 10.66s/it]
 29%|██▉       | 260/900 [25:10<1:20:24,  7.54s/it]
 29%|██▉       | 261/900 [25:11<57:01,  5.36s/it]  
 29%|██▉       | 262/900 [25:11<40:41,  3.83s/it]
 29%|██▉       | 263/900 [25:11<29:15,  2.76s/it]
 29%|██▉       | 264/900 [25:11<21:16,  2.01s/it]
 29%|██▉       | 265/900 [27:57<8:59:37, 50.99s/it]
 30%|██▉       | 266/900 [27:57<6:17:58, 35.77s/it]
 30%|██▉       | 267/900 [27:57<4:24:59, 25.12s/it]
 30%|██▉       | 268/900 [27:57<3:06:00, 17.66s/it]
 30%|██▉       | 269/900 [27:58<2:10:50, 12.44s/it]
 30%|███       | 270/900 [27:58<1:32:17,  8.79s/it]
 30%|███       | 271/900 [27:58<1:05:20,  6.23s/it]
 30%|███       | 272/900 [27:58<46:29,  4.44s/it]  
 30%|███       | 273/900 [28:19<1:37:52,  9.37s/it]
 30%|███       | 274/900 [28:20<1:09:12,  6.63s/it]
 31%|███       | 275/900 [28:20<49:10,  4.72s/it]  
 31%|███       | 276/900 [28:20<35:09,  3.38s/it]
 31%|███       | 277/900 [28:20<25:21,  2.44s/it]
 31%|███       | 278/900 [28:21<18:31,  1.79s/it]
 31%|███       | 279/900 [28:21<13:44,  1.33s/it]
 31%|███       | 280/900 [28:21<10:24,  1.01s/it]
 31%|███       | 281/900 [30:11<5:48:09, 33.75s/it]
 31%|███▏      | 282/900 [30:11<4:04:07, 23.70s/it]
 31%|███▏      | 283/900 [30:12<2:51:25, 16.67s/it]
 32%|███▏      | 284/900 [30:12<2:00:35, 11.75s/it]
 32%|███▏      | 285/900 [30:12<1:25:05,  8.30s/it]
 32%|███▏      | 286/900 [30:13<1:00:15,  5.89s/it]
 32%|███▏      | 287/900 [30:13<42:53,  4.20s/it]  
 32%|███▏      | 288/900 [30:13<30:45,  3.02s/it]
 32%|███▏      | 289/900 [31:22<3:53:08, 22.89s/it]
 32%|███▏      | 290/900 [31:23<2:43:40, 16.10s/it]
 32%|███▏      | 291/900 [31:23<1:55:06, 11.34s/it]
 32%|███▏      | 292/900 [31:23<1:21:10,  8.01s/it]
 33%|███▎      | 293/900 [31:23<57:26,  5.68s/it]  
 33%|███▎      | 294/900 [31:24<40:51,  4.05s/it]
 33%|███▎      | 295/900 [31:24<29:16,  2.90s/it]
 33%|███▎      | 296/900 [31:24<21:11,  2.10s/it]
 33%|███▎      | 297/900 [31:47<1:24:32,  8.41s/it]
 33%|███▎      | 298/900 [31:47<59:48,  5.96s/it]  
 33%|███▎      | 299/900 [31:48<42:29,  4.24s/it]
 33%|███▎      | 300/900 [31:48<30:23,  3.04s/it]
 33%|███▎      | 301/900 [31:48<21:56,  2.20s/it]
 34%|███▎      | 302/900 [31:48<16:01,  1.61s/it]
 34%|███▎      | 303/900 [31:49<11:54,  1.20s/it]
 34%|███▍      | 304/900 [31:49<09:01,  1.10it/s]
 34%|███▍      | 305/900 [35:35<11:18:16, 68.40s/it]
 34%|███▍      | 306/900 [35:35<7:54:40, 47.95s/it] 
 34%|███▍      | 307/900 [35:35<5:32:24, 33.63s/it]
 34%|███▍      | 308/900 [35:35<3:52:59, 23.61s/it]
 34%|███▍      | 309/900 [35:36<2:43:30, 16.60s/it]
 34%|███▍      | 310/900 [35:36<1:54:57, 11.69s/it]
 35%|███▍      | 311/900 [35:36<1:21:01,  8.25s/it]
 35%|███▍      | 312/900 [35:36<57:18,  5.85s/it]  
 35%|███▍      | 313/900 [36:28<3:12:58, 19.73s/it]
 35%|███▍      | 314/900 [36:29<2:15:33, 13.88s/it]
 35%|███▌      | 315/900 [36:29<1:35:24,  9.79s/it]
 35%|███▌      | 316/900 [36:29<1:07:21,  6.92s/it]
 35%|███▌      | 317/900 [36:29<47:44,  4.91s/it]  
 35%|███▌      | 318/900 [36:30<34:02,  3.51s/it]
 35%|███▌      | 319/900 [36:30<24:27,  2.53s/it]
 36%|███▌      | 320/900 [36:30<17:46,  1.84s/it]
 36%|███▌      | 321/900 [37:04<1:50:39, 11.47s/it]
 36%|███▌      | 322/900 [37:04<1:17:59,  8.10s/it]
 36%|███▌      | 323/900 [37:04<55:10,  5.74s/it]  
 36%|███▌      | 324/900 [37:05<39:14,  4.09s/it]
 36%|███▌      | 325/900 [37:05<28:05,  2.93s/it]
 36%|███▌      | 326/900 [37:05<20:19,  2.12s/it]
 36%|███▋      | 327/900 [37:05<14:52,  1.56s/it]
 36%|███▋      | 328/900 [37:06<11:05,  1.16s/it]
 37%|███▋      | 329/900 [39:11<6:05:09, 38.37s/it]
 37%|███▋      | 330/900 [39:11<4:15:55, 26.94s/it]
 37%|███▋      | 331/900 [39:11<2:59:34, 18.94s/it]
 37%|███▋      | 332/900 [39:12<2:06:12, 13.33s/it]
 37%|███▋      | 333/900 [39:12<1:28:53,  9.41s/it]
 37%|███▋      | 334/900 [39:12<1:02:49,  6.66s/it]
 37%|███▋      | 335/900 [39:12<44:37,  4.74s/it]  
 37%|███▋      | 336/900 [39:13<31:54,  3.39s/it]
 37%|███▋      | 337/900 [39:52<2:14:19, 14.32s/it]
 38%|███▊      | 338/900 [39:53<1:34:36, 10.10s/it]
 38%|███▊      | 339/900 [39:53<1:06:51,  7.15s/it]
 38%|███▊      | 340/900 [39:53<47:28,  5.09s/it]  
 38%|███▊      | 341/900 [39:53<33:56,  3.64s/it]
 38%|███▊      | 342/900 [39:54<24:27,  2.63s/it]
 38%|███▊      | 343/900 [39:54<17:49,  1.92s/it]
 38%|███▊      | 344/900 [39:54<13:11,  1.42s/it]
 38%|███▊      | 345/900 [41:33<4:42:42, 30.56s/it]
 38%|███▊      | 346/900 [41:33<3:18:17, 21.48s/it]
 39%|███▊      | 347/900 [41:33<2:19:17, 15.11s/it]
 39%|███▊      | 348/900 [41:34<1:38:03, 10.66s/it]
 39%|███▉      | 349/900 [41:34<1:09:15,  7.54s/it]
 39%|███▉      | 350/900 [41:34<49:06,  5.36s/it]  
 39%|███▉      | 351/900 [41:34<35:02,  3.83s/it]
 39%|███▉      | 352/900 [41:35<25:13,  2.76s/it]
 39%|███▉      | 353/900 [42:05<1:40:48, 11.06s/it]
 39%|███▉      | 354/900 [42:05<1:11:09,  7.82s/it]
 39%|███▉      | 355/900 [42:06<50:26,  5.55s/it]  
 40%|███▉      | 356/900 [42:06<35:57,  3.97s/it]
 40%|███▉      | 357/900 [42:06<25:50,  2.86s/it]
 40%|███▉      | 358/900 [42:06<18:47,  2.08s/it]
 40%|███▉      | 359/900 [42:07<13:51,  1.54s/it]
 40%|████      | 360/900 [42:07<10:23,  1.15s/it]
 40%|████      | 361/900 [42:54<2:14:17, 14.95s/it]
 40%|████      | 361/900 [42:54<1:04:04,  7.13s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json.
+BananaThenRubiksCubeTask_1 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_1, run: 1, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 362, duration: 24.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.149834550690938, 'joint_sparc_mean': -9.277015688739931, 'ee_isj': 1437.5769466498016, 'joint_isj': 28142.70490784999, 'ee_path_length': 2.6104268678536475, 'joint_rmse_mean': 1.2010284401047981, 'ee_speed_max': 0.4906597435474396, 'ee_speed_mean': 0.10465378314256668}, events: {'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_OBJECT': 2, 'TARGET_OBJECT_DROPPED': 8, 'OBJECT_BUMPED': 1, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 2495.741, 'policy_inference_avg_ms': 6894.3, 'env_step_s': 75.791, 'env_step_avg_ms': 209.4, 'video_write_s': 3.169, 'video_write_avg_ms': 8.8, 'wall_total_s': 2574.702, 'it_per_sec': 0.14}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: c94bc66608d74fe0b97ecd81165c79a5-1
+[RoboLab] Running BananaThenRubiksCubeTask_2: 'put the banana then the cube in the bowl' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:19<19:57:08, 79.90s/it]
  0%|          | 2/900 [01:20<8:14:31, 33.04s/it] 
  0%|          | 3/900 [01:20<4:30:02, 18.06s/it]
  0%|          | 4/900 [01:20<2:44:37, 11.02s/it]
  1%|          | 5/900 [01:20<1:46:23,  7.13s/it]
  1%|          | 6/900 [01:21<1:11:19,  4.79s/it]
  1%|          | 7/900 [01:21<49:05,  3.30s/it]  
  1%|          | 8/900 [01:21<34:31,  2.32s/it]
  1%|          | 9/900 [01:32<1:13:08,  4.92s/it]
  1%|          | 10/900 [01:32<51:34,  3.48s/it] 
  1%|          | 11/900 [01:32<36:47,  2.48s/it]
  1%|▏         | 12/900 [01:32<26:38,  1.80s/it]
  1%|▏         | 13/900 [01:33<19:34,  1.32s/it]
  2%|▏         | 14/900 [01:33<14:44,  1.00it/s]
  2%|▏         | 15/900 [01:33<11:21,  1.30it/s]
  2%|▏         | 16/900 [01:33<09:01,  1.63it/s]
  2%|▏         | 17/900 [02:09<2:45:16, 11.23s/it]
  2%|▏         | 18/900 [02:10<1:56:30,  7.93s/it]
  2%|▏         | 19/900 [02:10<1:22:27,  5.62s/it]
  2%|▏         | 20/900 [02:10<58:41,  4.00s/it]  
  2%|▏         | 21/900 [02:10<42:03,  2.87s/it]
  2%|▏         | 22/900 [02:10<30:26,  2.08s/it]
  3%|▎         | 23/900 [02:11<22:18,  1.53s/it]
  3%|▎         | 24/900 [02:11<16:37,  1.14s/it]
  3%|▎         | 25/900 [02:23<1:04:29,  4.42s/it]
  3%|▎         | 26/900 [02:23<46:09,  3.17s/it]  
  3%|▎         | 27/900 [02:23<33:19,  2.29s/it]
  3%|▎         | 28/900 [02:24<24:19,  1.67s/it]
  3%|▎         | 29/900 [02:24<18:02,  1.24s/it]
  3%|▎         | 30/900 [02:24<13:36,  1.07it/s]
  3%|▎         | 31/900 [02:24<10:31,  1.38it/s]
  4%|▎         | 32/900 [02:25<08:22,  1.73it/s]
  4%|▎         | 33/900 [02:50<1:54:26,  7.92s/it]
  4%|▍         | 34/900 [02:50<1:21:02,  5.62s/it]
  4%|▍         | 35/900 [02:50<57:41,  4.00s/it]  
  4%|▍         | 36/900 [02:50<41:21,  2.87s/it]
  4%|▍         | 37/900 [02:51<29:55,  2.08s/it]
  4%|▍         | 38/900 [02:51<21:55,  1.53s/it]
  4%|▍         | 39/900 [02:51<16:20,  1.14s/it]
  4%|▍         | 40/900 [02:51<12:27,  1.15it/s]
  5%|▍         | 41/900 [03:13<1:41:30,  7.09s/it]
  5%|▍         | 42/900 [03:13<1:12:05,  5.04s/it]
  5%|▍         | 43/900 [03:13<51:31,  3.61s/it]  
  5%|▍         | 44/900 [03:14<37:08,  2.60s/it]
  5%|▌         | 45/900 [03:14<27:05,  1.90s/it]
  5%|▌         | 46/900 [03:14<20:05,  1.41s/it]
  5%|▌         | 47/900 [03:15<15:08,  1.07s/it]
  5%|▌         | 48/900 [03:15<11:44,  1.21it/s]
  5%|▌         | 49/900 [03:41<1:58:00,  8.32s/it]
  6%|▌         | 50/900 [03:41<1:23:38,  5.90s/it]
  6%|▌         | 51/900 [03:41<59:34,  4.21s/it]  
  6%|▌         | 52/900 [03:41<42:45,  3.03s/it]
  6%|▌         | 53/900 [03:42<30:58,  2.19s/it]
  6%|▌         | 54/900 [03:42<22:43,  1.61s/it]
  6%|▌         | 55/900 [03:42<16:57,  1.20s/it]
  6%|▌         | 56/900 [03:42<12:56,  1.09it/s]
  6%|▋         | 57/900 [03:50<42:23,  3.02s/it]
  6%|▋         | 58/900 [03:51<30:41,  2.19s/it]
  7%|▋         | 59/900 [03:51<22:31,  1.61s/it]
  7%|▋         | 60/900 [03:51<16:44,  1.20s/it]
  7%|▋         | 61/900 [03:51<12:40,  1.10it/s]
  7%|▋         | 62/900 [03:52<09:50,  1.42it/s]
  7%|▋         | 63/900 [03:52<07:51,  1.78it/s]
  7%|▋         | 64/900 [03:52<06:26,  2.16it/s]
  7%|▋         | 65/900 [04:09<1:14:08,  5.33s/it]
  7%|▋         | 66/900 [04:09<52:47,  3.80s/it]  
  7%|▋         | 67/900 [04:09<37:51,  2.73s/it]
  8%|▊         | 68/900 [04:09<27:26,  1.98s/it]
  8%|▊         | 69/900 [04:10<20:08,  1.45s/it]
  8%|▊         | 70/900 [04:10<15:04,  1.09s/it]
  8%|▊         | 71/900 [04:10<11:29,  1.20it/s]
  8%|▊         | 72/900 [04:10<09:00,  1.53it/s]
  8%|▊         | 73/900 [04:22<53:04,  3.85s/it]
  8%|▊         | 74/900 [04:22<38:03,  2.76s/it]
  8%|▊         | 75/900 [04:22<27:32,  2.00s/it]
  8%|▊         | 76/900 [04:22<20:12,  1.47s/it]
  9%|▊         | 77/900 [04:23<15:05,  1.10s/it]
  9%|▊         | 78/900 [04:23<11:30,  1.19it/s]
  9%|▉         | 79/900 [04:23<08:59,  1.52it/s]
  9%|▉         | 80/900 [04:23<07:14,  1.89it/s]
  9%|▉         | 81/900 [04:50<1:53:14,  8.30s/it]
  9%|▉         | 82/900 [04:50<1:20:06,  5.88s/it]
  9%|▉         | 83/900 [04:50<56:57,  4.18s/it]  
  9%|▉         | 84/900 [04:50<40:45,  3.00s/it]
  9%|▉         | 85/900 [04:51<29:26,  2.17s/it]
 10%|▉         | 86/900 [04:51<21:31,  1.59s/it]
 10%|▉         | 87/900 [04:51<15:59,  1.18s/it]
 10%|▉         | 88/900 [04:51<12:07,  1.12it/s]
 10%|▉         | 89/900 [05:59<4:43:20, 20.96s/it]
 10%|█         | 90/900 [05:59<3:19:00, 14.74s/it]
 10%|█         | 91/900 [06:00<2:20:04, 10.39s/it]
 10%|█         | 92/900 [06:00<1:38:52,  7.34s/it]
 10%|█         | 93/900 [06:00<1:10:04,  5.21s/it]
 10%|█         | 94/900 [06:00<49:54,  3.72s/it]  
 11%|█         | 95/900 [06:00<35:50,  2.67s/it]
 11%|█         | 96/900 [06:01<25:58,  1.94s/it]
 11%|█         | 97/900 [06:28<2:07:08,  9.50s/it]
 11%|█         | 98/900 [06:28<1:29:52,  6.72s/it]
 11%|█         | 99/900 [06:28<1:03:49,  4.78s/it]
 11%|█         | 100/900 [06:29<45:35,  3.42s/it] 
 11%|█         | 101/900 [06:29<32:50,  2.47s/it]
 11%|█▏        | 102/900 [06:29<23:56,  1.80s/it]
 11%|█▏        | 103/900 [06:29<17:42,  1.33s/it]
 12%|█▏        | 104/900 [06:30<13:20,  1.01s/it]
 12%|█▏        | 105/900 [06:52<1:37:21,  7.35s/it]
 12%|█▏        | 106/900 [06:52<1:09:02,  5.22s/it]
 12%|█▏        | 107/900 [06:52<49:14,  3.73s/it]  
 12%|█▏        | 108/900 [06:52<35:23,  2.68s/it]
 12%|█▏        | 109/900 [06:53<25:41,  1.95s/it]
 12%|█▏        | 110/900 [06:53<18:55,  1.44s/it]
 12%|█▏        | 111/900 [06:53<14:10,  1.08s/it]
 12%|█▏        | 112/900 [06:53<10:52,  1.21it/s]
 13%|█▎        | 113/900 [07:24<2:07:43,  9.74s/it]
 13%|█▎        | 114/900 [07:24<1:30:18,  6.89s/it]
 13%|█▎        | 115/900 [07:24<1:04:08,  4.90s/it]
 13%|█▎        | 116/900 [07:25<45:49,  3.51s/it]  
 13%|█▎        | 117/900 [07:25<33:02,  2.53s/it]
 13%|█▎        | 118/900 [07:25<24:06,  1.85s/it]
 13%|█▎        | 119/900 [07:25<17:52,  1.37s/it]
 13%|█▎        | 120/900 [07:26<13:31,  1.04s/it]
 13%|█▎        | 121/900 [09:03<6:26:47, 29.79s/it]
 14%|█▎        | 122/900 [09:03<4:31:27, 20.94s/it]
 14%|█▎        | 123/900 [09:03<3:10:47, 14.73s/it]
 14%|█▍        | 124/900 [09:03<2:14:27, 10.40s/it]
 14%|█▍        | 125/900 [09:04<1:35:03,  7.36s/it]
 14%|█▍        | 126/900 [09:04<1:07:29,  5.23s/it]
 14%|█▍        | 127/900 [09:04<48:14,  3.74s/it]  
 14%|█▍        | 128/900 [09:04<34:44,  2.70s/it]
 14%|█▍        | 129/900 [10:14<4:53:22, 22.83s/it]
 14%|█▍        | 130/900 [10:15<3:26:07, 16.06s/it]
 15%|█▍        | 131/900 [10:15<2:25:05, 11.32s/it]
 15%|█▍        | 132/900 [10:15<1:42:26,  8.00s/it]
 15%|█▍        | 133/900 [10:15<1:12:37,  5.68s/it]
 15%|█▍        | 134/900 [10:16<51:46,  4.05s/it]  
 15%|█▌        | 135/900 [10:16<37:13,  2.92s/it]
 15%|█▌        | 136/900 [10:16<27:02,  2.12s/it]
 15%|█▌        | 137/900 [10:51<2:31:00, 11.88s/it]
 15%|█▌        | 138/900 [10:51<1:46:34,  8.39s/it]
 15%|█▌        | 139/900 [10:51<1:15:29,  5.95s/it]
 16%|█▌        | 140/900 [10:52<53:46,  4.24s/it]  
 16%|█▌        | 141/900 [10:52<38:34,  3.05s/it]
 16%|█▌        | 142/900 [10:52<27:57,  2.21s/it]
 16%|█▌        | 143/900 [10:52<20:33,  1.63s/it]
 16%|█▌        | 144/900 [10:53<15:24,  1.22s/it]
 16%|█▌        | 145/900 [11:22<2:01:24,  9.65s/it]
 16%|█▌        | 146/900 [11:22<1:25:48,  6.83s/it]
 16%|█▋        | 147/900 [11:22<1:00:52,  4.85s/it]
 16%|█▋        | 148/900 [11:23<43:27,  3.47s/it]  
 17%|█▋        | 149/900 [11:23<31:16,  2.50s/it]
 17%|█▋        | 150/900 [11:23<22:44,  1.82s/it]
 17%|█▋        | 151/900 [11:23<16:47,  1.34s/it]
 17%|█▋        | 152/900 [11:24<12:36,  1.01s/it]
 17%|█▋        | 153/900 [11:49<1:44:07,  8.36s/it]
 17%|█▋        | 154/900 [11:49<1:13:42,  5.93s/it]
 17%|█▋        | 155/900 [11:50<52:23,  4.22s/it]  
 17%|█▋        | 156/900 [11:50<37:31,  3.03s/it]
 17%|█▋        | 157/900 [11:50<27:05,  2.19s/it]
 18%|█▊        | 158/900 [11:50<19:48,  1.60s/it]
 18%|█▊        | 159/900 [11:51<14:41,  1.19s/it]
 18%|█▊        | 160/900 [11:51<11:08,  1.11it/s]
 18%|█▊        | 161/900 [12:52<3:52:43, 18.89s/it]
 18%|█▊        | 162/900 [12:52<2:43:33, 13.30s/it]
 18%|█▊        | 163/900 [12:52<1:55:11,  9.38s/it]
 18%|█▊        | 164/900 [12:52<1:21:22,  6.63s/it]
 18%|█▊        | 165/900 [12:53<57:44,  4.71s/it]  
 18%|█▊        | 166/900 [12:53<41:12,  3.37s/it]
 19%|█▊        | 167/900 [12:53<29:38,  2.43s/it]
 19%|█▊        | 168/900 [12:53<21:34,  1.77s/it]
 19%|█▉        | 169/900 [13:45<3:22:33, 16.63s/it]
 19%|█▉        | 170/900 [13:45<2:22:26, 11.71s/it]
 19%|█▉        | 171/900 [13:45<1:40:25,  8.27s/it]
 19%|█▉        | 172/900 [13:45<1:11:03,  5.86s/it]
 19%|█▉        | 173/900 [13:45<50:31,  4.17s/it]  
 19%|█▉        | 174/900 [13:46<36:10,  2.99s/it]
 19%|█▉        | 175/900 [13:46<26:07,  2.16s/it]
 20%|█▉        | 176/900 [13:46<19:06,  1.58s/it]
 20%|█▉        | 177/900 [14:20<2:17:01, 11.37s/it]
 20%|█▉        | 178/900 [14:21<1:36:41,  8.04s/it]
 20%|█▉        | 179/900 [14:21<1:08:29,  5.70s/it]
 20%|██        | 180/900 [14:21<48:48,  4.07s/it]  
 20%|██        | 181/900 [14:21<35:01,  2.92s/it]
 20%|██        | 182/900 [14:22<25:20,  2.12s/it]
 20%|██        | 183/900 [14:22<18:34,  1.56s/it]
 20%|██        | 184/900 [14:22<13:50,  1.16s/it]
 21%|██        | 185/900 [14:45<1:30:52,  7.63s/it]
 21%|██        | 186/900 [14:45<1:04:21,  5.41s/it]
 21%|██        | 187/900 [14:45<45:49,  3.86s/it]  
 21%|██        | 188/900 [14:46<32:51,  2.77s/it]
 21%|██        | 189/900 [14:46<23:47,  2.01s/it]
 21%|██        | 190/900 [14:46<17:27,  1.48s/it]
 21%|██        | 191/900 [14:46<13:02,  1.10s/it]
 21%|██▏       | 192/900 [14:46<09:56,  1.19it/s]
 21%|██▏       | 193/900 [15:12<1:38:46,  8.38s/it]
 22%|██▏       | 194/900 [15:13<1:09:52,  5.94s/it]
 22%|██▏       | 195/900 [15:13<49:42,  4.23s/it]  
 22%|██▏       | 196/900 [15:13<35:35,  3.03s/it]
 22%|██▏       | 197/900 [15:13<25:42,  2.19s/it]
 22%|██▏       | 198/900 [15:14<18:47,  1.61s/it]
 22%|██▏       | 199/900 [15:14<13:57,  1.19s/it]
 22%|██▏       | 200/900 [15:14<10:34,  1.10it/s]
 22%|██▏       | 201/900 [16:50<5:41:25, 29.31s/it]
 22%|██▏       | 202/900 [16:50<3:59:31, 20.59s/it]
 23%|██▎       | 203/900 [16:50<2:48:17, 14.49s/it]
 23%|██▎       | 204/900 [16:50<1:58:30, 10.22s/it]
 23%|██▎       | 205/900 [16:51<1:23:41,  7.22s/it]
 23%|██▎       | 206/900 [16:51<59:20,  5.13s/it]  
 23%|██▎       | 207/900 [16:51<42:19,  3.66s/it]
 23%|██▎       | 208/900 [16:51<30:28,  2.64s/it]
 23%|██▎       | 209/900 [17:21<2:02:13, 10.61s/it]
 23%|██▎       | 210/900 [17:21<1:26:21,  7.51s/it]
 23%|██▎       | 211/900 [17:21<1:01:17,  5.34s/it]
 24%|██▎       | 212/900 [17:21<43:43,  3.81s/it]  
 24%|██▎       | 213/900 [17:22<31:26,  2.75s/it]
 24%|██▍       | 214/900 [17:22<22:53,  2.00s/it]
 24%|██▍       | 215/900 [17:22<16:51,  1.48s/it]
 24%|██▍       | 216/900 [17:22<12:40,  1.11s/it]
 24%|██▍       | 217/900 [17:42<1:16:37,  6.73s/it]
 24%|██▍       | 218/900 [17:43<54:25,  4.79s/it]  
 24%|██▍       | 219/900 [17:43<38:54,  3.43s/it]
 24%|██▍       | 220/900 [17:43<28:03,  2.48s/it]
 25%|██▍       | 221/900 [17:43<20:28,  1.81s/it]
 25%|██▍       | 222/900 [17:44<15:11,  1.34s/it]
 25%|██▍       | 223/900 [17:44<11:30,  1.02s/it]
 25%|██▍       | 224/900 [17:44<08:55,  1.26it/s]
 25%|██▌       | 225/900 [18:41<3:17:02, 17.52s/it]
 25%|██▌       | 226/900 [18:41<2:18:36, 12.34s/it]
 25%|██▌       | 227/900 [18:41<1:37:44,  8.71s/it]
 25%|██▌       | 228/900 [18:41<1:09:11,  6.18s/it]
 25%|██▌       | 229/900 [18:42<49:13,  4.40s/it]  
 26%|██▌       | 230/900 [18:42<35:16,  3.16s/it]
 26%|██▌       | 231/900 [18:42<25:30,  2.29s/it]
 26%|██▌       | 232/900 [18:42<18:41,  1.68s/it]
 26%|██▌       | 233/900 [19:17<2:08:10, 11.53s/it]
 26%|██▌       | 234/900 [19:17<1:30:26,  8.15s/it]
 26%|██▌       | 235/900 [19:17<1:04:07,  5.79s/it]
 26%|██▌       | 236/900 [19:18<45:42,  4.13s/it]  
 26%|██▋       | 237/900 [19:18<32:48,  2.97s/it]
 26%|██▋       | 238/900 [19:18<23:47,  2.16s/it]
 27%|██▋       | 239/900 [19:19<17:29,  1.59s/it]
 27%|██▋       | 240/900 [19:19<13:05,  1.19s/it]
 27%|██▋       | 241/900 [19:47<1:41:28,  9.24s/it]
 27%|██▋       | 242/900 [19:47<1:11:46,  6.54s/it]
 27%|██▋       | 243/900 [19:47<50:59,  4.66s/it]  
 27%|██▋       | 244/900 [19:48<36:26,  3.33s/it]
 27%|██▋       | 245/900 [19:48<26:17,  2.41s/it]
 27%|██▋       | 246/900 [19:48<19:11,  1.76s/it]
 27%|██▋       | 247/900 [19:48<14:13,  1.31s/it]
 28%|██▊       | 248/900 [19:49<10:44,  1.01it/s]
 28%|██▊       | 249/900 [20:08<1:11:51,  6.62s/it]
 28%|██▊       | 250/900 [20:09<50:58,  4.71s/it]  
 28%|██▊       | 250/900 [20:09<52:24,  4.84s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json.
+BananaThenRubiksCubeTask_2 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_2, run: 2, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 251, duration: 16.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.535843959056459, 'joint_sparc_mean': -8.148513826588326, 'ee_isj': 1021.9813384549803, 'joint_isj': 22289.79355216764, 'ee_path_length': 1.6649006463121063, 'joint_rmse_mean': 1.0771700806405649, 'ee_speed_max': 0.46356141567230225, 'ee_speed_mean': 0.09671973437070847}, events: {'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 1154.043, 'policy_inference_avg_ms': 4597.8, 'env_step_s': 52.748, 'env_step_avg_ms': 210.2, 'video_write_s': 2.43, 'video_write_avg_ms': 9.7, 'wall_total_s': 1209.221, 'it_per_sec': 0.21}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 4adb02a3e9ce44618a4c53b0663a9b30-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T11:35:39Z [39,326,833ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.273239 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T11:35:43Z [39,330,896ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T11:35:43Z [39,330,896ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T11:35:43Z [39,330,904ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T11:35:43Z [39,330,905ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T11:35:43Z [39,330,912ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T11:35:43Z [39,330,920ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T11:35:44Z [39,331,970ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1108))' not available in the MDL representation.
+2026-11-02T11:35:44Z [39,331,970ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1108))' not available in the MDL representation.
+2026-11-02T11:35:45Z [39,332,286ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1166))' not available in the MDL representation.
+2026-11-02T11:35:45Z [39,332,286ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1166))' not available in the MDL representation.
+2026-11-02T11:35:45Z [39,332,292ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1169))' not available in the MDL representation.
+2026-11-02T11:35:45Z [39,332,292ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1169))' not available in the MDL representation.
+2026-11-02T11:35:45Z [39,332,304ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1175))' not available in the MDL representation.
+2026-11-02T11:35:45Z [39,332,304ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1175))' not available in the MDL representation.
+2026-11-02T11:35:46Z [39,333,196ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1108))' not available in the MDL representation.
+2026-11-02T11:35:46Z [39,333,196ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1108))' not available in the MDL representation.
+2026-11-02T11:35:46Z [39,333,199ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1166))' not available in the MDL representation.
+2026-11-02T11:35:46Z [39,333,199ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1166))' not available in the MDL representation.
+2026-11-02T11:35:46Z [39,333,199ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1169))' not available in the MDL representation.
+2026-11-02T11:35:46Z [39,333,200ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1169))' not available in the MDL representation.
+2026-11-02T11:35:46Z [39,333,200ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1175))' not available in the MDL representation.
+2026-11-02T11:35:46Z [39,333,200ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1175))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.202924 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1CansTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack canned foods into the bin                │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1CansTaskSceneEnvCfg               │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1CansTask_0: 'Pack canned foods into the bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:15<18:56:12, 75.83s/it]
  0%|          | 2/900 [01:16<7:49:41, 31.38s/it] 
  0%|          | 3/900 [01:16<4:16:35, 17.16s/it]
  0%|          | 4/900 [01:16<2:36:33, 10.48s/it]
  1%|          | 5/900 [01:16<1:41:19,  6.79s/it]
  1%|          | 6/900 [01:17<1:08:03,  4.57s/it]
  1%|          | 7/900 [01:17<46:57,  3.16s/it]  
  1%|          | 8/900 [01:17<33:09,  2.23s/it]
  1%|          | 9/900 [01:28<1:13:49,  4.97s/it]
  1%|          | 10/900 [01:28<52:06,  3.51s/it] 
  1%|          | 11/900 [01:29<37:14,  2.51s/it]
  1%|▏         | 12/900 [01:29<26:58,  1.82s/it]
  1%|▏         | 13/900 [01:29<19:54,  1.35s/it]
  2%|▏         | 14/900 [01:29<15:00,  1.02s/it]
  2%|▏         | 15/900 [01:30<11:34,  1.27it/s]
  2%|▏         | 16/900 [01:30<09:10,  1.61it/s]
  2%|▏         | 17/900 [01:52<1:45:23,  7.16s/it]
  2%|▏         | 18/900 [01:52<1:14:45,  5.09s/it]
  2%|▏         | 19/900 [01:53<53:21,  3.63s/it]  
  2%|▏         | 20/900 [01:53<38:23,  2.62s/it]
  2%|▏         | 21/900 [01:53<27:55,  1.91s/it]
  2%|▏         | 22/900 [01:53<20:36,  1.41s/it]
  3%|▎         | 23/900 [01:54<15:27,  1.06s/it]
  3%|▎         | 24/900 [01:54<11:53,  1.23it/s]
  3%|▎         | 25/900 [02:09<1:13:30,  5.04s/it]
  3%|▎         | 26/900 [02:09<52:36,  3.61s/it]  
  3%|▎         | 27/900 [02:09<37:56,  2.61s/it]
  3%|▎         | 28/900 [02:10<27:35,  1.90s/it]
  3%|▎         | 29/900 [02:10<20:21,  1.40s/it]
  3%|▎         | 30/900 [02:10<15:19,  1.06s/it]
  3%|▎         | 31/900 [02:10<11:49,  1.23it/s]
  4%|▎         | 32/900 [02:11<09:21,  1.55it/s]
  4%|▎         | 33/900 [02:22<58:05,  4.02s/it]
  4%|▍         | 34/900 [02:23<41:44,  2.89s/it]
  4%|▍         | 35/900 [02:23<30:21,  2.11s/it]
  4%|▍         | 36/900 [02:23<22:26,  1.56s/it]
  4%|▍         | 37/900 [02:24<16:52,  1.17s/it]
  4%|▍         | 38/900 [02:24<13:01,  1.10it/s]
  4%|▍         | 39/900 [02:24<10:18,  1.39it/s]
  4%|▍         | 40/900 [02:24<08:21,  1.71it/s]
  5%|▍         | 41/900 [02:48<1:45:34,  7.37s/it]
  5%|▍         | 42/900 [02:48<1:15:00,  5.25s/it]
  5%|▍         | 43/900 [02:48<53:37,  3.75s/it]  
  5%|▍         | 44/900 [02:48<38:40,  2.71s/it]
  5%|▌         | 45/900 [02:49<28:12,  1.98s/it]
  5%|▌         | 46/900 [02:49<20:56,  1.47s/it]
  5%|▌         | 47/900 [02:49<15:52,  1.12s/it]
  5%|▌         | 48/900 [02:50<12:20,  1.15it/s]
  5%|▌         | 49/900 [03:16<2:01:36,  8.57s/it]
  6%|▌         | 50/900 [03:16<1:26:11,  6.08s/it]
  6%|▌         | 51/900 [03:17<1:01:20,  4.34s/it]
  6%|▌         | 52/900 [03:17<43:55,  3.11s/it]  
  6%|▌         | 53/900 [03:17<31:44,  2.25s/it]
  6%|▌         | 54/900 [03:17<23:14,  1.65s/it]
  6%|▌         | 55/900 [03:18<17:16,  1.23s/it]
  6%|▌         | 56/900 [03:18<13:06,  1.07it/s]
  6%|▋         | 57/900 [03:54<2:43:19, 11.62s/it]
  6%|▋         | 58/900 [03:55<1:55:14,  8.21s/it]
  7%|▋         | 59/900 [03:55<1:21:36,  5.82s/it]
  7%|▋         | 60/900 [03:55<58:05,  4.15s/it]  
  7%|▋         | 61/900 [03:55<41:38,  2.98s/it]
  7%|▋         | 62/900 [03:56<30:09,  2.16s/it]
  7%|▋         | 63/900 [03:56<22:07,  1.59s/it]
  7%|▋         | 64/900 [03:56<16:30,  1.18s/it]
  7%|▋         | 65/900 [04:31<2:35:21, 11.16s/it]
  7%|▋         | 66/900 [04:31<1:49:39,  7.89s/it]
  7%|▋         | 67/900 [04:31<1:17:41,  5.60s/it]
  8%|▊         | 68/900 [04:31<55:20,  3.99s/it]  
  8%|▊         | 69/900 [04:32<39:44,  2.87s/it]
  8%|▊         | 70/900 [04:32<28:49,  2.08s/it]
  8%|▊         | 71/900 [04:32<21:11,  1.53s/it]
  8%|▊         | 72/900 [04:32<15:48,  1.15s/it]
  8%|▊         | 73/900 [05:12<2:54:55, 12.69s/it]
  8%|▊         | 74/900 [05:12<2:03:18,  8.96s/it]
  8%|▊         | 75/900 [05:13<1:27:13,  6.34s/it]
  8%|▊         | 76/900 [05:13<1:02:03,  4.52s/it]
  9%|▊         | 77/900 [05:13<44:29,  3.24s/it]  
  9%|▊         | 78/900 [05:13<32:11,  2.35s/it]
  9%|▉         | 79/900 [05:14<23:35,  1.72s/it]
  9%|▉         | 80/900 [05:14<17:35,  1.29s/it]
  9%|▉         | 81/900 [05:28<1:11:25,  5.23s/it]
  9%|▉         | 82/900 [05:29<51:00,  3.74s/it]  
  9%|▉         | 83/900 [05:29<36:39,  2.69s/it]
  9%|▉         | 84/900 [05:29<26:38,  1.96s/it]
  9%|▉         | 85/900 [05:29<19:37,  1.44s/it]
 10%|▉         | 86/900 [05:30<14:45,  1.09s/it]
 10%|▉         | 87/900 [05:30<11:19,  1.20it/s]
 10%|▉         | 88/900 [05:30<08:56,  1.51it/s]
 10%|▉         | 89/900 [06:15<3:10:33, 14.10s/it]
 10%|█         | 90/900 [06:16<2:14:13,  9.94s/it]
 10%|█         | 91/900 [06:16<1:34:49,  7.03s/it]
 10%|█         | 92/900 [06:16<1:07:16,  5.00s/it]
 10%|█         | 93/900 [06:16<48:01,  3.57s/it]  
 10%|█         | 94/900 [06:17<34:33,  2.57s/it]
 11%|█         | 95/900 [06:17<25:08,  1.87s/it]
 11%|█         | 96/900 [06:17<18:34,  1.39s/it]
 11%|█         | 97/900 [06:51<2:30:32, 11.25s/it]
 11%|█         | 98/900 [06:52<1:46:15,  7.95s/it]
 11%|█         | 99/900 [06:52<1:15:18,  5.64s/it]
 11%|█         | 100/900 [06:52<53:40,  4.03s/it] 
 11%|█         | 101/900 [06:52<38:29,  2.89s/it]
 11%|█▏        | 102/900 [06:53<27:54,  2.10s/it]
 11%|█▏        | 103/900 [06:53<20:29,  1.54s/it]
 12%|█▏        | 104/900 [06:53<15:22,  1.16s/it]
 12%|█▏        | 105/900 [08:46<7:40:11, 34.73s/it]
 12%|█▏        | 106/900 [08:47<5:22:49, 24.39s/it]
 12%|█▏        | 107/900 [08:47<3:46:47, 17.16s/it]
 12%|█▏        | 108/900 [08:47<2:39:34, 12.09s/it]
 12%|█▏        | 109/900 [08:47<1:52:32,  8.54s/it]
 12%|█▏        | 110/900 [08:48<1:19:38,  6.05s/it]
 12%|█▏        | 111/900 [08:48<56:39,  4.31s/it]  
 12%|█▏        | 112/900 [08:48<40:35,  3.09s/it]
 13%|█▎        | 113/900 [09:04<1:31:00,  6.94s/it]
 13%|█▎        | 114/900 [09:04<1:04:37,  4.93s/it]
 13%|█▎        | 115/900 [09:05<46:09,  3.53s/it]  
 13%|█▎        | 116/900 [09:05<33:14,  2.54s/it]
 13%|█▎        | 117/900 [09:05<24:11,  1.85s/it]
 13%|█▎        | 118/900 [09:05<17:55,  1.37s/it]
 13%|█▎        | 119/900 [09:06<13:35,  1.04s/it]
 13%|█▎        | 120/900 [09:06<10:31,  1.24it/s]
 13%|█▎        | 121/900 [09:26<1:27:31,  6.74s/it]
 14%|█▎        | 122/900 [09:27<1:02:16,  4.80s/it]
 14%|█▎        | 123/900 [09:27<44:37,  3.45s/it]  
 14%|█▍        | 124/900 [09:27<32:16,  2.50s/it]
 14%|█▍        | 125/900 [09:27<23:38,  1.83s/it]
 14%|█▍        | 126/900 [09:28<17:37,  1.37s/it]
 14%|█▍        | 127/900 [09:28<13:23,  1.04s/it]
 14%|█▍        | 128/900 [09:28<10:26,  1.23it/s]
 14%|█▍        | 129/900 [09:42<1:00:19,  4.69s/it]
 14%|█▍        | 130/900 [09:42<43:15,  3.37s/it]  
 15%|█▍        | 131/900 [09:43<31:18,  2.44s/it]
 15%|█▍        | 132/900 [09:43<22:56,  1.79s/it]
 15%|█▍        | 133/900 [09:43<17:05,  1.34s/it]
 15%|█▍        | 134/900 [09:43<13:00,  1.02s/it]
 15%|█▌        | 135/900 [09:44<10:08,  1.26it/s]
 15%|█▌        | 136/900 [09:44<08:09,  1.56it/s]
 15%|█▌        | 137/900 [09:58<58:22,  4.59s/it]
 15%|█▌        | 138/900 [09:58<41:52,  3.30s/it]
 15%|█▌        | 139/900 [09:58<30:19,  2.39s/it]
 16%|█▌        | 140/900 [09:59<22:15,  1.76s/it]
 16%|█▌        | 141/900 [09:59<16:38,  1.32s/it]
 16%|█▌        | 142/900 [09:59<12:41,  1.00s/it]
 16%|█▌        | 143/900 [10:00<09:55,  1.27it/s]
 16%|█▌        | 144/900 [10:00<08:00,  1.57it/s]
 16%|█▌        | 145/900 [11:21<5:10:45, 24.70s/it]
 16%|█▌        | 146/900 [11:21<3:38:17, 17.37s/it]
 16%|█▋        | 147/900 [11:21<2:33:39, 12.24s/it]
 16%|█▋        | 148/900 [11:21<1:48:26,  8.65s/it]
 17%|█▋        | 149/900 [11:22<1:16:50,  6.14s/it]
 17%|█▋        | 150/900 [11:22<54:45,  4.38s/it]  
 17%|█▋        | 151/900 [11:22<39:20,  3.15s/it]
 17%|█▋        | 152/900 [11:23<28:32,  2.29s/it]
 17%|█▋        | 153/900 [11:58<2:33:26, 12.32s/it]
 17%|█▋        | 154/900 [11:59<1:48:19,  8.71s/it]
 17%|█▋        | 155/900 [11:59<1:16:46,  6.18s/it]
 17%|█▋        | 156/900 [11:59<54:41,  4.41s/it]  
 17%|█▋        | 157/900 [11:59<39:14,  3.17s/it]
 18%|█▊        | 158/900 [12:00<28:27,  2.30s/it]
 18%|█▊        | 159/900 [12:00<20:54,  1.69s/it]
 18%|█▊        | 160/900 [12:00<15:39,  1.27s/it]
 18%|█▊        | 161/900 [14:45<10:18:26, 50.21s/it]
 18%|█▊        | 162/900 [14:45<7:13:21, 35.23s/it] 
 18%|█▊        | 163/900 [14:45<5:03:56, 24.74s/it]
 18%|█▊        | 164/900 [14:45<3:33:29, 17.40s/it]
 18%|█▊        | 165/900 [14:46<2:30:16, 12.27s/it]
 18%|█▊        | 166/900 [14:46<1:46:03,  8.67s/it]
 19%|█▊        | 167/900 [14:46<1:15:10,  6.15s/it]
 19%|█▊        | 168/900 [14:47<53:35,  4.39s/it]  
 19%|█▉        | 169/900 [15:04<1:39:24,  8.16s/it]
 19%|█▉        | 170/900 [15:04<1:10:30,  5.80s/it]
 19%|█▉        | 170/900 [15:04<1:04:44,  5.32s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json.
+FoodPacking1CansTask_0 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_0, run: 0, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 171, duration: 11.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.979199687198902, 'joint_sparc_mean': -5.993254004933249, 'ee_isj': 1155.3090552604926, 'joint_isj': 19558.925757191362, 'ee_path_length': 1.846094854835722, 'joint_rmse_mean': 0.9538406786220605, 'ee_speed_max': 0.45078057050704956, 'ee_speed_mean': 0.1499478816986084}, events: {'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 863.752, 'policy_inference_avg_ms': 5051.2, 'env_step_s': 39.155, 'env_step_avg_ms': 229.0, 'video_write_s': 1.704, 'video_write_avg_ms': 10.0, 'wall_total_s': 904.611, 'it_per_sec': 0.19}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: e083efbe29124901b7329597fd928458-0
+[RoboLab] Running FoodPacking1CansTask_1: 'Pack canned foods into the bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:49<12:16:41, 49.17s/it]
  0%|          | 2/900 [00:49<5:05:20, 20.40s/it] 
  0%|          | 3/900 [00:49<2:47:27, 11.20s/it]
  0%|          | 4/900 [00:49<1:42:41,  6.88s/it]
  1%|          | 5/900 [00:50<1:06:53,  4.48s/it]
  1%|          | 6/900 [00:50<45:23,  3.05s/it]  
  1%|          | 7/900 [00:50<31:42,  2.13s/it]
  1%|          | 8/900 [00:50<22:45,  1.53s/it]
  1%|          | 9/900 [01:24<2:50:56, 11.51s/it]
  1%|          | 10/900 [01:24<1:59:10,  8.03s/it]
  1%|          | 11/900 [01:24<1:23:44,  5.65s/it]
  1%|▏         | 12/900 [01:25<59:18,  4.01s/it]  
  1%|▏         | 13/900 [01:25<42:23,  2.87s/it]
  2%|▏         | 14/900 [01:25<30:37,  2.07s/it]
  2%|▏         | 15/900 [01:25<22:27,  1.52s/it]
  2%|▏         | 16/900 [01:26<16:46,  1.14s/it]
  2%|▏         | 17/900 [01:58<2:35:57, 10.60s/it]
  2%|▏         | 18/900 [01:58<1:50:03,  7.49s/it]
  2%|▏         | 19/900 [01:59<1:17:59,  5.31s/it]
  2%|▏         | 20/900 [01:59<55:34,  3.79s/it]  
  2%|▏         | 21/900 [01:59<39:54,  2.72s/it]
  2%|▏         | 22/900 [01:59<28:58,  1.98s/it]
  3%|▎         | 23/900 [02:00<21:19,  1.46s/it]
  3%|▎         | 24/900 [02:00<15:57,  1.09s/it]
  3%|▎         | 25/900 [02:20<1:40:32,  6.89s/it]
  3%|▎         | 26/900 [02:21<1:11:23,  4.90s/it]
  3%|▎         | 27/900 [02:21<50:59,  3.50s/it]  
  3%|▎         | 28/900 [02:21<36:44,  2.53s/it]
  3%|▎         | 29/900 [02:21<26:44,  1.84s/it]
  3%|▎         | 30/900 [02:22<19:46,  1.36s/it]
  3%|▎         | 31/900 [02:22<14:54,  1.03s/it]
  4%|▎         | 32/900 [02:22<11:30,  1.26it/s]
  4%|▎         | 33/900 [02:38<1:16:27,  5.29s/it]
  4%|▍         | 34/900 [02:38<54:35,  3.78s/it]  
  4%|▍         | 35/900 [02:38<39:15,  2.72s/it]
  4%|▍         | 36/900 [02:39<28:34,  1.98s/it]
  4%|▍         | 37/900 [02:39<21:08,  1.47s/it]
  4%|▍         | 38/900 [02:39<16:00,  1.11s/it]
  4%|▍         | 39/900 [02:39<12:22,  1.16it/s]
  4%|▍         | 40/900 [02:40<09:49,  1.46it/s]
  5%|▍         | 41/900 [02:58<1:26:46,  6.06s/it]
  5%|▍         | 42/900 [02:59<1:01:50,  4.32s/it]
  5%|▍         | 43/900 [02:59<44:26,  3.11s/it]  
  5%|▍         | 44/900 [02:59<32:16,  2.26s/it]
  5%|▌         | 45/900 [02:59<23:47,  1.67s/it]
  5%|▌         | 46/900 [03:00<17:49,  1.25s/it]
  5%|▌         | 47/900 [03:00<13:39,  1.04it/s]
  5%|▌         | 48/900 [03:00<10:45,  1.32it/s]
  5%|▌         | 49/900 [03:11<53:23,  3.76s/it]
  6%|▌         | 50/900 [03:11<38:34,  2.72s/it]
  6%|▌         | 51/900 [03:12<28:09,  1.99s/it]
  6%|▌         | 52/900 [03:12<20:53,  1.48s/it]
  6%|▌         | 53/900 [03:12<15:46,  1.12s/it]
  6%|▌         | 54/900 [03:12<12:11,  1.16it/s]
  6%|▌         | 55/900 [03:13<09:41,  1.45it/s]
  6%|▌         | 56/900 [03:13<07:59,  1.76it/s]
  6%|▋         | 57/900 [03:47<2:27:42, 10.51s/it]
  6%|▋         | 58/900 [03:47<1:44:28,  7.44s/it]
  7%|▋         | 59/900 [03:47<1:14:15,  5.30s/it]
  7%|▋         | 60/900 [03:48<53:06,  3.79s/it]  
  7%|▋         | 61/900 [03:48<38:18,  2.74s/it]
  7%|▋         | 62/900 [03:48<28:01,  2.01s/it]
  7%|▋         | 63/900 [03:48<20:49,  1.49s/it]
  7%|▋         | 64/900 [03:49<15:47,  1.13s/it]
  7%|▋         | 65/900 [04:33<3:13:55, 13.93s/it]
  7%|▋         | 66/900 [04:33<2:16:44,  9.84s/it]
  7%|▋         | 67/900 [04:33<1:36:44,  6.97s/it]
  8%|▊         | 68/900 [04:33<1:08:47,  4.96s/it]
  8%|▊         | 69/900 [04:34<49:14,  3.56s/it]  
  8%|▊         | 70/900 [04:34<35:33,  2.57s/it]
  8%|▊         | 71/900 [04:34<25:59,  1.88s/it]
  8%|▊         | 72/900 [04:35<19:18,  1.40s/it]
  8%|▊         | 73/900 [06:11<6:52:34, 29.93s/it]
  8%|▊         | 73/900 [06:11<1:10:12,  5.09s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json.
+FoodPacking1CansTask_1 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_1, run: 1, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 74, duration: 4.933333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.6321637311533, 'joint_sparc_mean': -3.0336613153515395, 'ee_isj': 502.07837232322726, 'joint_isj': 7955.826814120084, 'ee_path_length': 0.8704837612251866, 'joint_rmse_mean': 0.8444272750271793, 'ee_speed_max': 0.49776607751846313, 'ee_speed_mean': 0.16514477133750916}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 353.595, 'policy_inference_avg_ms': 4778.3, 'env_step_s': 17.073, 'env_step_avg_ms': 230.7, 'video_write_s': 1.147, 'video_write_avg_ms': 15.5, 'wall_total_s': 371.815, 'it_per_sec': 0.2}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 0af21ffc812a4a93b61a4ec24c1f0b86-1
+[RoboLab] Running FoodPacking1CansTask_2: 'Pack canned foods into the bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:41<10:24:15, 41.66s/it]
  0%|          | 2/900 [00:41<4:19:05, 17.31s/it] 
  0%|          | 3/900 [00:42<2:22:22,  9.52s/it]
  0%|          | 4/900 [00:42<1:27:32,  5.86s/it]
  1%|          | 5/900 [00:42<57:16,  3.84s/it]  
  1%|          | 6/900 [00:42<39:01,  2.62s/it]
  1%|          | 7/900 [00:43<27:25,  1.84s/it]
  1%|          | 8/900 [00:43<19:50,  1.33s/it]
  1%|          | 9/900 [01:05<1:56:37,  7.85s/it]
  1%|          | 10/900 [01:05<1:21:40,  5.51s/it]
  1%|          | 11/900 [01:06<57:45,  3.90s/it]  
  1%|▏         | 12/900 [01:06<41:15,  2.79s/it]
  1%|▏         | 13/900 [01:06<29:51,  2.02s/it]
  2%|▏         | 14/900 [01:06<21:55,  1.49s/it]
  2%|▏         | 15/900 [01:07<16:24,  1.11s/it]
  2%|▏         | 16/900 [01:07<12:34,  1.17it/s]
  2%|▏         | 17/900 [01:33<2:06:15,  8.58s/it]
  2%|▏         | 18/900 [01:34<1:29:19,  6.08s/it]
  2%|▏         | 19/900 [01:34<1:03:31,  4.33s/it]
  2%|▏         | 20/900 [01:34<45:28,  3.10s/it]  
  2%|▏         | 21/900 [01:34<32:53,  2.25s/it]
  2%|▏         | 22/900 [01:35<24:04,  1.65s/it]
  3%|▎         | 23/900 [01:35<17:54,  1.23s/it]
  3%|▎         | 24/900 [01:35<13:35,  1.07it/s]
  3%|▎         | 25/900 [01:59<1:55:05,  7.89s/it]
  3%|▎         | 26/900 [02:00<1:21:34,  5.60s/it]
  3%|▎         | 27/900 [02:00<58:08,  4.00s/it]  
  3%|▎         | 28/900 [02:00<41:42,  2.87s/it]
  3%|▎         | 29/900 [02:00<30:14,  2.08s/it]
  3%|▎         | 30/900 [02:01<22:13,  1.53s/it]
  3%|▎         | 31/900 [02:01<16:35,  1.15s/it]
  4%|▎         | 32/900 [02:01<12:41,  1.14it/s]
  4%|▎         | 33/900 [02:21<1:34:21,  6.53s/it]
  4%|▍         | 34/900 [02:21<1:07:04,  4.65s/it]
  4%|▍         | 35/900 [02:21<48:02,  3.33s/it]  
  4%|▍         | 36/900 [02:22<34:45,  2.41s/it]
  4%|▍         | 37/900 [02:22<25:29,  1.77s/it]
  4%|▍         | 38/900 [02:22<19:00,  1.32s/it]
  4%|▍         | 39/900 [02:22<14:29,  1.01s/it]
  4%|▍         | 40/900 [02:23<11:20,  1.26it/s]
  5%|▍         | 41/900 [02:39<1:17:15,  5.40s/it]
  5%|▍         | 42/900 [02:39<55:12,  3.86s/it]  
  5%|▍         | 43/900 [02:39<39:46,  2.78s/it]
  5%|▍         | 44/900 [02:40<28:57,  2.03s/it]
  5%|▌         | 45/900 [02:40<21:23,  1.50s/it]
  5%|▌         | 46/900 [02:40<16:07,  1.13s/it]
  5%|▌         | 47/900 [02:40<12:20,  1.15it/s]
  5%|▌         | 48/900 [02:41<09:41,  1.46it/s]
  5%|▌         | 49/900 [03:05<1:51:21,  7.85s/it]
  6%|▌         | 50/900 [03:05<1:19:01,  5.58s/it]
  6%|▌         | 51/900 [03:06<56:19,  3.98s/it]  
  6%|▌         | 52/900 [03:06<40:25,  2.86s/it]
  6%|▌         | 53/900 [03:06<29:21,  2.08s/it]
  6%|▌         | 54/900 [03:07<21:37,  1.53s/it]
  6%|▌         | 55/900 [03:07<16:13,  1.15s/it]
  6%|▌         | 56/900 [03:07<12:29,  1.13it/s]
  6%|▋         | 57/900 [03:32<1:54:47,  8.17s/it]
  6%|▋         | 58/900 [03:32<1:21:24,  5.80s/it]
  7%|▋         | 59/900 [03:33<57:58,  4.14s/it]  
  7%|▋         | 60/900 [03:33<41:34,  2.97s/it]
  7%|▋         | 61/900 [03:33<30:06,  2.15s/it]
  7%|▋         | 62/900 [03:33<22:10,  1.59s/it]
  7%|▋         | 63/900 [03:34<16:37,  1.19s/it]
  7%|▋         | 64/900 [03:34<12:45,  1.09it/s]
  7%|▋         | 65/900 [04:02<2:05:34,  9.02s/it]
  7%|▋         | 66/900 [04:02<1:28:54,  6.40s/it]
  7%|▋         | 67/900 [04:02<1:03:11,  4.55s/it]
  8%|▊         | 68/900 [04:03<45:11,  3.26s/it]  
  8%|▊         | 69/900 [04:03<32:38,  2.36s/it]
  8%|▊         | 70/900 [04:03<23:55,  1.73s/it]
  8%|▊         | 71/900 [04:04<17:46,  1.29s/it]
  8%|▊         | 72/900 [04:04<13:27,  1.03it/s]
  8%|▊         | 73/900 [05:17<5:13:25, 22.74s/it]
  8%|▊         | 74/900 [05:18<3:40:12, 16.00s/it]
  8%|▊         | 75/900 [05:18<2:35:04, 11.28s/it]
  8%|▊         | 76/900 [05:18<1:49:32,  7.98s/it]
  9%|▊         | 77/900 [05:18<1:17:40,  5.66s/it]
  9%|▊         | 78/900 [05:19<55:24,  4.04s/it]  
  9%|▉         | 79/900 [05:19<39:51,  2.91s/it]
  9%|▉         | 80/900 [05:19<28:57,  2.12s/it]
  9%|▉         | 81/900 [05:38<1:39:27,  7.29s/it]
  9%|▉         | 82/900 [05:39<1:10:38,  5.18s/it]
  9%|▉         | 83/900 [05:39<50:32,  3.71s/it]  
  9%|▉         | 84/900 [05:39<36:30,  2.68s/it]
  9%|▉         | 85/900 [05:40<26:40,  1.96s/it]
 10%|▉         | 86/900 [05:40<19:48,  1.46s/it]
 10%|▉         | 87/900 [05:40<14:58,  1.11s/it]
 10%|▉         | 88/900 [05:40<11:35,  1.17it/s]
 10%|▉         | 89/900 [06:29<3:24:22, 15.12s/it]
 10%|█         | 90/900 [06:29<2:24:01, 10.67s/it]
 10%|█         | 91/900 [06:29<1:41:49,  7.55s/it]
 10%|█         | 92/900 [06:30<1:12:19,  5.37s/it]
 10%|█         | 93/900 [06:30<51:41,  3.84s/it]  
 10%|█         | 94/900 [06:30<37:16,  2.77s/it]
 11%|█         | 95/900 [06:31<27:11,  2.03s/it]
 11%|█         | 96/900 [06:31<20:08,  1.50s/it]
 11%|█         | 97/900 [06:41<55:58,  4.18s/it]
 11%|█         | 98/900 [06:42<40:17,  3.01s/it]
 11%|█         | 99/900 [06:42<29:18,  2.20s/it]
 11%|█         | 100/900 [06:42<21:36,  1.62s/it]
 11%|█         | 101/900 [06:42<16:12,  1.22s/it]
 11%|█▏        | 102/900 [06:43<12:27,  1.07it/s]
 11%|█▏        | 103/900 [06:43<09:49,  1.35it/s]
 12%|█▏        | 104/900 [06:43<07:59,  1.66it/s]
 12%|█▏        | 105/900 [07:48<4:24:01, 19.93s/it]
 12%|█▏        | 106/900 [07:49<3:05:41, 14.03s/it]
 12%|█▏        | 107/900 [07:49<2:10:55,  9.91s/it]
 12%|█▏        | 108/900 [07:49<1:32:37,  7.02s/it]
 12%|█▏        | 109/900 [07:49<1:05:53,  5.00s/it]
 12%|█▏        | 110/900 [07:50<47:08,  3.58s/it]  
 12%|█▏        | 111/900 [07:50<34:03,  2.59s/it]
 12%|█▏        | 112/900 [07:50<24:53,  1.90s/it]
 13%|█▎        | 113/900 [08:31<2:56:31, 13.46s/it]
 13%|█▎        | 114/900 [08:31<2:04:31,  9.51s/it]
 13%|█▎        | 115/900 [08:31<1:28:08,  6.74s/it]
 13%|█▎        | 116/900 [08:31<1:02:42,  4.80s/it]
 13%|█▎        | 117/900 [08:32<44:57,  3.44s/it]  
 13%|█▎        | 118/900 [08:32<32:29,  2.49s/it]
 13%|█▎        | 119/900 [08:32<23:47,  1.83s/it]
 13%|█▎        | 120/900 [08:33<17:42,  1.36s/it]
 13%|█▎        | 121/900 [09:05<2:20:03, 10.79s/it]
 14%|█▎        | 122/900 [09:06<1:39:01,  7.64s/it]
 14%|█▎        | 122/900 [09:06<58:05,  4.48s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_2_env0.json.
+FoodPacking1CansTask_2 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 123, duration: 8.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.275557173695689, 'joint_sparc_mean': -4.710543664169204, 'ee_isj': 752.515913179673, 'joint_isj': 15753.521799337243, 'ee_path_length': 1.346662486225508, 'joint_rmse_mean': 0.8619738361734396, 'ee_speed_max': 0.4951513111591339, 'ee_speed_mean': 0.15509499609470367}, events: {'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 516.492, 'policy_inference_avg_ms': 4199.1, 'env_step_s': 28.419, 'env_step_avg_ms': 231.1, 'video_write_s': 1.526, 'video_write_avg_ms': 12.4, 'wall_total_s': 546.437, 'it_per_sec': 0.23}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 953cab463f464dcfaa571399f3821a9d-2
+----------------------------------------------------------------------- EXPERIMENT SUMMARY ------------------------------------------------------------------------
+Task Name                       Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (5 tasks)                 14/15    93.3%   [69.8-98.4]    1.000        1.000       16.25   -6.11    2.48       13.0        0.16 45.1       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaThenRubiksCubeTask        2/3      66.7%   [19.4-93.2]    1.000        1.000       20.43   -8.20    3.41       9.9         0.14 105.1      
+BlockStackingSpecifiedOrderTask 3/3      100.0%  [39.8-99.4]    1.000        -           24.11   -7.49    3.24       12.7        0.13 47.3       
+FoodPacking1CansTask            3/3      100.0%  [39.8-99.4]    1.000        -           8.18    -4.63    1.35       15.7        0.21 10.1       
+FruitsOnionToPlateTask          3/3      100.0%  [39.8-99.4]    1.000        -           10.00   -4.55    1.55       14.7        0.18 16.8       
+ReorientRedMugTask              3/3      100.0%  [39.8-99.4]    1.000        -           19.91   -5.66    2.86       12.1        0.16 46.5       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec70f4a2e585777245eb774207ed6d8135932347
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1367e07d086618846c059bc9747c6ba3d34b3f95a3e15c68df734f135a9fe1f7
+size 30146
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6e1180c5a48aefb7db7d4a76cec1ab6f5086fb3f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc9d4c03803c9782b588d16e36b9fc0a7389669105ecdaa9249a51678b73bc0
+size 1655689
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce935c5b658fdf498b07358925ba5799552d10da
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1542e5fea5a3ff3c9351ee83037d983c7dab3cbfa43b24db8508cd40e77e9aae
+size 29314533
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab151d717e583a6dc7f8e04a88498052a1549e9a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e6e94b9d00b36db5ee16ebe60489a02c7b52ed251751cace8d58458e3cc1d7
+size 6044
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2cc5fe1f28824b836f75c0a715f4f86afb7265a3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1476c2b9f71678229e2767fb90e5bef9d6cc0ef5cf5105100f07c608db522b9f
+size 31116184
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..94ceea50a29868812c00b0c3f32c4b8dcf03115c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9dc080aa0fd0555ce6a682a81bca43d7e0b5cc0c6f504c74b320e779e7c942c
+size 7811
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d81e0407d6974e34d25ff25b244f5aac7981ef6c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0702d23eb87e183e21a6ab7f76cca699d5eb44259a479758d3c67562320ec232
+size 50664569
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..16f2ca899ff8b8bb41514554e5bf7ce16fc2d570
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb453815d641d957716cb0dd5b14b41d2a5b6327a6e25ac56f05f3cccc3755f7
+size 18295
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..475d6557eda0b1173f51cd60065fcb798ef1daa4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b50913641485f157f5e5585e831131731e9d76f9bc14c960ee4f6fab8ce738a5
+size 98049637
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2dd67d1eee5daaf61538fa55835e629942f5a6aa
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dbbb668c62f15dea9ebe1931df489409ba2f64d3c4d3557f9eecc538b0d674a
+size 30404
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6876a2f9944b3e7ed3e46b38d362e1a1a17b6ba4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c42d742e10a6f84e5690964ef82f2033034c0daf1573c10ec7a9b6dad0755e65
+size 86671286
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..73af03f4f14c0cecda194a73df291e4238fb1a80
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98a8fe7c55747da2ee3f818c35ce9c35969341c573d67db905d9a63f2421de2c
+size 26358
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..458225c5e980db3976a44e7b4224c513b0884368
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d40343d4b31c81097f64f6ac13a6428f96de4c8e2fb7f93baf335f40fc5a7c43
+size 75477299
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf2aeb53a017fdad90e503ef5dcc991fc1d28bbe
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf91d90e5db0817a778b576755cbbaf17d0e6af827e38498864d924076fba34
+size 22256
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29d090871eb466c5eed3b599032fb89463d09232
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76b5a1663cbdb3baaa02b343d0d90efc038b352f787fd369d7d5b0cb24cba63a
+size 138998281
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..621c32177d9e8e050699926b95192e0da1ef405d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e251ca2eafb384c459f49ed3dd78b7b2ab65234fee005c1ec8edcfbb35fdb1c
+size 60370
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fbf411deada65d86c7ad51c0997dd3bed3d3fe6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e63173e22534c28ae2610cd10ca282a3222a8a526b86773d549c60b9009b6d6b
+size 24423258
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4a5e98c98eca6cf5d23a17528651f8071b1ff97d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25a6686a209acff59125649991f636a3ef1dfca97eedb24920f54fc5484ef277
+size 5792
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..59cfe4011fbaa3c895b17e6af32d01f5533c0472
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83cb12e5d984ead61d888d126885010acec2f8221f52a8e32f8092d098307836
+size 24387006
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49058ce994ce091c26599ed0ae19f93530a7cd86
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da99c2bab6870677ef10c6f75619c122c16b55d1f69361fadcd453748d10b74
+size 9916
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0010/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..27b1ececf64b401057c8b804d674b53245e35cf1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c4d58ed3b5a40622a4aa7c17f68cac61fbede9c433b491dfe08323f335acd09
+size 196013936
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0010/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0010/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec91b90bbc1813d295be35b3b6d5b7c86f33d75a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0010/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:394ac18448c775e4377eb8e217916f5984867e082e3cdf205547217777bd2b37
+size 135965
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0010/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0011/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0011/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a58866217f6ad9df36bba581f82a9181fe311154
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0011/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:373fb32dd49749da7027215749ccc59c7261f45dc5886d8980c97eab6ae87d1f
+size 79835492
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0011/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0011/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..15c23c1262e34413134b20cca909da3047e88d86
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0011/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c485bfdef8d20f87fda3ce3966d4e444c167a663a7a1baf12bdcd2c375fbdf
+size 24842
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0011/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0011/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0012/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0012/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aa506ab3d08be6f4c3d2e33a3ce5498c7bbdec87
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0012/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6941c3dd0b0b80a8d836deacc738603ad037772f6eb8eeb536188b8c952b5e83
+size 56588081
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0012/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0012/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f24a07c17d67abcee31d47361c354b8e24eeb04
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0012/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:367c3247d9a5c4ad08afa4ac09f1981247acf8c17c381754e1f17d4e207b7365
+size 12600
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0012/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0012/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0013/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0013/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e120c569aea86525fe7a8411377402db326982c2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0013/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52fa8d6e5d03152995b65c4aa8f67731e7eb2b17f1c8c5102cdb45e86b041e0f
+size 49020360
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0013/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0013/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce39d73ce1afdac0f7fd8b4cc365addcc115d7ea
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0013/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a58ada6486ca15ac9d122a6fdb02a656947f995dbce128558f8ec1a806e4a21
+size 11794
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0013/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0013/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..5cc85f4377b1043a2b80ddb84b5306af37c323aa
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0013/stderr.log
@@ -0,0 +1,2 @@
+2026-11-02T11:36:09.270587Z ERROR codex_core::tools::router: error=code-mode initial response exceeds the IPC frame limit: code-mode IPC frame length 81955540 exceeds 67108864 bytes
+2026-11-02T11:36:24.892485Z ERROR codex_core::tools::router: error=code-mode initial response exceeds the IPC frame limit: code-mode IPC frame length 81955571 exceeds 67108864 bytes
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0014/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0014/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b232f98f1562c5b9ffd3e352fcc102c262f3c43
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0014/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a4860dab73b7c33f1c4fce09273cf628c2f686981bccc176919e4f7762e2442
+size 20438694
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0014/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0014/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54bedb0ba1ca5bd43d05bbcb7859d9d2f24c5891
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0014/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84fec9ac957b6c6e94cff79c67db8542c3398b95aa7e641d82ea9cf9ee8b406d
+size 4955
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0014/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0014/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0015/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0015/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..48a7ed6f6a13ae16b8f3374ddae49cfa47dffbc3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0015/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f4229fb12eb392bb9674a3ccd37d4f133229ed231d97fa8350bff5cad85badb
+size 31213283
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0015/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0015/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a63479fa7a82a0358649d6301b392f9bfc100c13
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0015/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7259b23c56d9cac7e55cd5eb91eb1ac458146eb598e4dbf1d7181750fc77a1a
+size 6355
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0015/stderr.log b/harness_robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval/episode-0015/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d8ec448695bcefed2ab9ad6ede9edbc87ae7c00
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/env_cfg.json
@@ -0,0 +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:5", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_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}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.44258353114128113, 0.12658219039440155, 0.07732785493135452], "rot": [0.9999999403953552, -5.875354421326538e-05, -0.0003236202968188691, -0.00010501052579296266], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.4306528866291046, -0.09742811322212219, 0.08113233000040054], "rot": [0.9999990463256836, -0.0009071399440944852, 0.0010379400315123045, 8.441170612118017e-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": [0.538878858089447, -0.07555567473173141, 0.0684281587600708], "rot": [0.9999781250953674, -0.002664888769974798, -0.006051987813043361, 0.00014540326035168], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [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": [0.19858434796333313, 0.02206825464963913, 0.05000072345137596], "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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube", "/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__rubiks_cube": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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_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_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_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}}}}, "rubiks_cube__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "rubiks_cube__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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_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_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_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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:objects_placed_in_container_in_order", "params": {"objects": ["banana", "rubiks_cube"], "container": "bowl", "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 0x7f5460e313a0>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f5460e311c0>, 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"}, {"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7f5460e313a0>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7f5460e311c0>, object='rubiks_cube', 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": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "BananaThenRubiksCubeTask", "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": "put the banana then the cube in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "put the banana then the cube in the bowl", "vague": "put banana then cube away", "specific": "First pick up the yellow banana and place it in the bowl, then pick up the rubiks cube and place it in the bowl after"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f71f03853b0018d432a60c8793729ba48b4221ba
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 38, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 96, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 98, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 154, "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": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 193, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 241, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 244, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 245, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 253, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 262, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 305, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.177m", "score": 0.0}, {"step": 306, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 321, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 362, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 377, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.167m", "score": 0.0}, {"step": 385, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 388, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.083m", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "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": 434, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 434, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 437, "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": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 450, "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": 469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 470, "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": 473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 473, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 514, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 516, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 516, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 544, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 544, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 552, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.078m", "score": 1.0}, {"step": 612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 644, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 644, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 1.0}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}, {"step": 646, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 697, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 722, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.087m", "score": 1.0}, {"step": 729, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}, {"step": 745, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.134m", "score": 1.0}, {"step": 754, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 760, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: [])", "score": 1.0}, {"step": 764, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 1.0}, {"step": 784, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 1.0}, {"step": 794, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 795, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: [])", "score": 1.0}, {"step": 796, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 796, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 1.0}, {"step": 807, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.071m", "score": 1.0}, {"step": 817, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.143m", "score": 1.0}, {"step": 823, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}, {"step": 835, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.193m", "score": 1.0}, {"step": 857, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 889, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fe53e00ec232678a360ec59ff65a79d6e0eb55d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 1, "success": true, "final_step": 362, "events": [{"step": 26, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 63, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 107, "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": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 137, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 139, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 148, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.055m", "score": 0.5}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 239, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 253, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 361, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..58689a27215602386c1152824f0a4d3e13733b60
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 2, "success": true, "final_step": 251, "events": [{"step": 43, "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": 49, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 49, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "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": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 145, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68c854be483abeddff7839851c56adaeff882c17
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56bef144ec51a7fe6eb75a029b6c4676d78dedd7ae227d11bf1c7b703f2a4aeb
+size 16364545
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f7ac0f333ca9229eebd257ed8120e56701ca367
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcf866329884cf2046639223ba87718eceabcd2dc604212b63947fde24195115
+size 4329763
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..891beed7bcfed7d5cbdb984e65da667303aed9f5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7644a048b7bff569c6ea6688c40f16a7e70138bc6aab4c6d64e4aa8003401b86
+size 6560051
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed684611ae840dfb0721a53b9f1973960edff36b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3f3acd66d386a8b9b3c886f0c37b615662e9095000d5e056bea2fe49797492
+size 1553414
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e995c5a80efaf6b9d4b4c3174f0de06e121ed686
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59f01dd5210f067c0a0da9bca223e41973f7aacc43aaa6b32d77e8b8d07f769f
+size 4439314
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3c460cdff12ef4166e0744e2c2fa11c2ffb7929
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96596559ff12171af2643bf048da9eaaff75f0403d4d21e7c136aedb14a3b557
+size 1225656
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..369e804bfb1791e244ecf1075d86293529a62faa
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74e2ccd5b736d0f3464d1bf7edae214b3ef80f1eb3d7b8df1b1b1ab02d30b683
+size 519639
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e3f74342a31dd45a589adb0873e2d5af80d23c57
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24a40114289e95362cdcaa5a3fa0ca1803b944fff39f1a9f86bc040df5e16e61
+size 305054
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d8fda99ef28dafb0589c1b8b4fc44632a30d8e82
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BananaThenRubiksCubeTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:070aa536e817fa366dc8dd1d0fb8ba47f75923e085ff7a336602c6511287d44f
+size 267139
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6968132034364b1623e35a1e04d2ea51cb62687d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14d352f591860c7a58be8dcc27ed415d7d5ebd7f325cb7fc8324311bee959084
+size 9609275
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8dc3f2289a6c5c9c549c7fef049c2a3a8c713f45
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eba862b3d7e9197ae0f8a0051a1a0fe2e63cbe807e8a9311b817a6cb2584841e
+size 2039284
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec18e37e1ebebdfbdae2faa15ad87db871d5c4ca
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3c3be59c102fd333bbe08e64ef888939b50705a5f856fb790a5fcc83deb0109
+size 8379487
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..477a4b012947877c1c8c85eb627058edfc09498a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:082cd5ae5b587d3025c6a8471f4e151d84a9051094552a9237f0d64327ef2231
+size 1791945
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..916e14b959dc54b4848e11cf4ed7cb101bcebe18
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82571130f3ececb224648b34c6e7f3180e47073735abf18cfcf0571d67317189
+size 7374177
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e99ade0b62723e353197e4161c91088cf4221a8
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bf88cbaa178f4653ab5b46e56b48ed637eb3d89b263d802742d873c927e21ca
+size 1609732
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..645922f85354cdb619b3f931d483cbedec9bc9bb
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/env_cfg.json
@@ -0,0 +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:5", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/colored_blocks.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": [0.5471952557563782, -5.710670302505605e-05, -0.3470016121864319], "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}, "blue_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/blue_block", "spawn": null, "init_state": {"pos": [0.4601268470287323, 1.1039082892239094e-07, 0.026294255629181862], "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}, "green_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/green_block", "spawn": null, "init_state": {"pos": [0.36935505270957947, 0.18831472098827362, 0.02629413641989231], "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}, "red_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_block", "spawn": null, "init_state": {"pos": [0.371458500623703, -0.1741129755973816, 0.02629457786679268], "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}, "yellow_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yellow_block", "spawn": null, "init_state": {"pos": [0.4753357470035553, 0.11556775867938995, 0.02629409171640873], "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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block", "/World/envs/env_.*/scene/blue_block", "/World/envs/env_.*/scene/green_block", "/World/envs/env_.*/scene/yellow_block"], "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__red_block": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "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__blue_block": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "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__green_block": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "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__yellow_block": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "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_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}}}}, "red_block__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "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}}}}, "red_block__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "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}}}}, "red_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "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}}}}, "red_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "blue_block__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "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}}}}, "blue_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "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}}}}, "blue_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "green_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "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}}}}, "green_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "yellow_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yellow_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 90, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["red_block", "blue_block", "green_block", "yellow_block"], "order": "bottom_to_top"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function stacked at 0x7f546336aa20>, objects=['red_block', 'blue_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7f546336aa20>, objects=['blue_block', 'green_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7f546336aa20>, objects=['green_block', 'yellow_block'], order='bottom_to_top')", 1.0]]}, "score": 0.34, "logical": "all", "K": null, "name": "unnamed_subtask"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "complex"], "_task_attributes": ["stacking", "color", "complex"], "_task_name": "BlockStackingSpecifiedOrderTask", "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": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "vague": "Stack in the order of red, blue, green, yellow", "specific": "Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3bd2d673837a8af0eaba9229426f17fce7dcd93
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": true, "final_step": 409, "events": [{"step": 32, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 58, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 95, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 97, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 100, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.210m", "score": 0.33}, {"step": 145, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 149, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 152, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 153, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 177, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.352m", "score": 0.33}, {"step": 184, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 193, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 241, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 258, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 282, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 297, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 321, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 329, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 329, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 361, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 401, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.315m", "score": 0.66}, {"step": 409, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 1.0}, {"step": 409, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c81e1a558cca585dad521c5343cdabb4070d2bd0
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 1, "success": true, "final_step": 360, "events": [{"step": 42, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 65, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 71, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 112, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 113, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.214m", "score": 0.33}, {"step": 153, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 157, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 159, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 161, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 198, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 201, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 203, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.375m", "score": 0.66}, {"step": 241, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 245, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 246, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 265, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 297, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 345, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.340m", "score": 0.66}, {"step": 360, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..493ac26d7d127baf950374e18b88e02acfe356b9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 2, "success": true, "final_step": 316, "events": [{"step": 48, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 73, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 113, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.212m", "score": 0.0}, {"step": 128, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 129, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 177, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 177, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 223, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 225, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 225, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.371m", "score": 0.66}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 273, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 316, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.330m", "score": 1.0}, {"step": 316, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3a4178d5333a81a6f496333a1b15d23ec718eac6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41aa96b0e9c6c9971c1612b95004f980af7b5f682f67f940a019bf24faef872f
+size 359976
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..04808945d4924bc059179a421385db2ab0c12527
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba8479db861f4584ddb03f28fa6ffc3cebf68192c0fe7c5b5f18abd1c33d0d64
+size 339173
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1ed84b3c0a0715cf5cf879def4e8935fa6f05bf8
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75dd9bb93440fba75665bf2f81a151b656f5ae87d32c6967e8fe1367623d267
+size 320837
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f97edffc54c47b07fc8d853608800ab0adb3c001
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df72f7e068bdefd2b9ebc1a92f97a3c7e7066746ec6ed23aa11c7b146bd240d4
+size 4637202
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff1757978f0b194caa0834397703381c2b9ee4e3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c42c05ddc4124cdd47b0742081cc4e036755512671b7424f701a60ae32afc6a5
+size 921732
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfebf10b6d34890af4623b7d2b993be0abbd9c71
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76129da2533aeb933b95cea34efa2dce14cb554780c4f690e2768f2567329a9d
+size 1940536
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4e2370775c820876f39466e67d19599301dbf4a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:488bdae92823b34b10ac8bc7a4ad6c571d6b499c28e846ad60a2a8f5b7ca9022
+size 484007
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec4401f62b70ab4814897aeabb6d13bab4a2e04f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bdc9da4b2a1cbd074f5e5cc674495cdb3f0882068520ae3821f8f46e40b542f
+size 3155681
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99eb7e528b5b17fb5a6de1158f52919a8835f8aa
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dfb6d4cd96f906b4d1f6af04914aae4e7ffa2fe53ed8a736772852a7b05694b
+size 725442
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..7652f2b024e081f01c1ac34193eb4840a3914de3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/env_cfg.json
@@ -0,0 +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:5", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/foodpacking_1bin_1box_1can.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": [0.5472070574760437, -7.31465988792479e-05, -0.3470000624656677], "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}, "bin_a06": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bin_a06", "spawn": null, "init_state": {"pos": [0.6623992323875427, 0.3591690957546234, 0.0030019916594028473], "rot": [-8.307394522785846e-07, 3.147776841841252e-05, -0.0006731755060114463, 0.9999997729215733], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cheez_it": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cheez_it", "spawn": null, "init_state": {"pos": [0.4740942120552063, -0.2727200388908386, 0.10890547186136246], "rot": [0.7055808901786804, -0.014833274869134935, 0.014101319604489647, 0.7083337731301039], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.5671444535255432, 0.3033906817436218, 0.10240653157234192], "rot": [0.9991520047187805, -0.03916314610531943, 0.012512041950778364, -0.0022289593530075767], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "tomato_soup_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "spawn": null, "init_state": {"pos": [0.41869235038757324, -0.00021113763796165586, 0.0539], "rot": [0.9997684955596924, -0.001414528593515839, -0.021422391810506817, 0.0014267180115947436], "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06", "/World/envs/env_.*/scene/cheez_it", "/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/tomato_soup_can"], "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__bin_a06": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06"], "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__cheez_it": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "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__mustard": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "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__tomato_soup_can": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "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_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}}}}, "bin_a06__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "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}}}}, "bin_a06__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "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}}}}, "bin_a06__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "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}}}}, "bin_a06__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "cheez_it__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "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}}}}, "cheez_it__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "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}}}}, "cheez_it__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "mustard__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "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}}}}, "mustard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "tomato_soup_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "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": ["tomato_soup_can"], "container": "bin_a06", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"tomato_soup_can": [["functools.partial(<function object_grabbed at 0x7f5460e313a0>, object='tomato_soup_can')", 0.0], ["functools.partial(<function object_in_container at 0x7f5460e311c0>, object='tomato_soup_can', container='bin_a06', 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": "FoodPacking1CansTask", "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": "Pack canned foods into the bin", "contact_object_list": ["bin_a06", "cheez_it", "mustard", "tomato_soup_can", "table"], "_instruction_variants": {"default": "Pack canned foods into the bin", "vague": "Pack cans", "specific": "Pick up the canned food item and place it inside the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..040e02324e5a59a21038f26ac8ed16477c58b822
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 0, "success": true, "final_step": 171, "events": [{"step": 47, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 49, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 49, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 50, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 51, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 51, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 52, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 76, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 82, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 82, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 122, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 171, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c7120e00b7c3e2c42f7ebfe1527211be28b2de7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 1, "success": true, "final_step": 74, "events": [{"step": 43, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 74, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 74, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2ea06d8429fcc34aec2a043129cbab3068e9db5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 2, "success": true, "final_step": 123, "events": [{"step": 83, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 123, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9505feb81ce4e5c2a8621e86bad0a864ff755f60
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a1092ae4ec919be677dfe14a678554b58df3aa499b316e5292fc86fa27347db
+size 265396
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b37c12134e312b05adfe9642fa01230029b20196
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e1c7c35a6a2b795e5bd9ce38f15f98c5339545389c7eab84c034d341f686d18
+size 226426
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e5ce64a2ec207c5a1a952d373a9ba7bae6019ffe
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FoodPacking1CansTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ef31536bccd7c2e1159a52a90a599ee35e1f5d4ec76b424f06a5e824ce681b
+size 246372
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc230d3848c4b8fdd4825e34ea7c61e364bd4500
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:008d077b92e48d26701ed225858401d79c96647beea55cf50d2f1f57373e8ac0
+size 2519824
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8b60d5a7e708e2d3006a989034d765ea55df374
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b289ebbbf011982c19e88ea57be6eee60bdae3b2cbc9025ae00f50626bd00c0
+size 884758
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df68d65edad9d17b99d17cf23a06e0ef13c99746
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d68ca3c5ab0efde2ea51b68487fbfc57f8fac03a06a7251724917990db4106
+size 2594905
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0098cb5703b7e7c00e8fb6466753b5a2539f4f5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdfb5c658adaf93a1240a7f2db28ff8a2facf063b434d839df1f627b38461374
+size 849519
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..841fedeef31669cf846bc74be9075ce152b157ca
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7f032a02180987fa51d3bcc6680c3fec3003638e0c499e2ad8edd057030c0c2
+size 4458417
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67bd68b20a6625cda9f9ec2d05d080c138c51c3c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/Put_the_onion_on_the_plate_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff1dfb0ce3c3057883329330a0d3e0e84ddd2cc3d491d6c7f436e78896419f62
+size 1620617
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaff4fd7f525d827ee9199fc985b525d29eba7cf
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/env_cfg.json
@@ -0,0 +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:5", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/fruits_in_basket.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": [0.5471963286399841, -5.774462260887958e-05, -0.3470001220703125], "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}, "lemon_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_01", "spawn": null, "init_state": {"pos": [0.3856664896011359, -0.36678015061754005, 0.08909919881566895], "rot": [0.9419288635253906, 0.3299059625813502, 0.057016612066690585, -0.026099384273873736], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_02", "spawn": null, "init_state": {"pos": [0.3260307908058208, -0.23868608840841005, 0.20847657329880662], "rot": [-0.27720674872398365, -0.10159870271595114, 0.8249058751447398, -0.4820419268279522], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01", "spawn": null, "init_state": {"pos": [0.4361977577209498, -0.24894561239618013, 0.021372735500335572], "rot": [0.9781804084777832, -0.07533644103159434, -0.1278432303415413, -0.145408450850595], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01_01", "spawn": null, "init_state": {"pos": [0.44568830728530995, -0.17132349678415087, 0.040971186012029336], "rot": [0.919944167137146, 0.3173049700168694, -0.057726476556696306, -0.2229079165424269], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_01", "spawn": null, "init_state": {"pos": [0.4923862218856827, -0.3087733126534814, 0.03229415044188491], "rot": [0.9176989197731018, -0.12917140048596235, -0.3667672850500597, 0.08139533500628543], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_02", "spawn": null, "init_state": {"pos": [0.3758616447448735, -0.19806658097642596, 0.030656106770038417], "rot": [0.9469792246818542, 0.2670893481253356, -0.13378941074420853, -0.11829633008532005], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pomegranate01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "spawn": null, "init_state": {"pos": [0.37925079464912426, -0.2950076050414441, 0.014848608523607153], "rot": [0.9948065280914307, 0.10160271421776663, 0.0033233162207671864, 0.005080915227909633], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinlarge": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "spawn": null, "init_state": {"pos": [0.6743540167808533, 0.23907040059566498, 0.002787109464406967], "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}, "pumpkinsmall": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "spawn": null, "init_state": {"pos": [0.578921377658844, 0.20728783309459686, 0.002740677446126938], "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}, "redonion": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/redonion", "spawn": null, "init_state": {"pos": [0.6320742964744579, -0.3169718789953783, 0.04339895397424671], "rot": [-0.5411092638969419, 0.3272032069190475, 0.7518617940259849, 0.1866619098553007], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "serving_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "spawn": null, "init_state": {"pos": [0.4279561936855316, 0.3938743472099304, 0.003246370702981949], "rot": [0.9999989867210388, -8.574598664059446e-08, 1.5736105796754037e-07, 0.001423571868053788], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "clay_plates": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/clay_plates", "spawn": null, "init_state": {"pos": [0.4022193253040325, -0.31780384847062754, 0.002826265990734111], "rot": [0.9999983310699463, -0.00015620008395065047, -0.001724322332137198, 0.0005832421030422051], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.5124515434512656, 0.03163659387980241, 0.007829435169694202], "rot": [0.9971413612365723, 0.009151381587167301, -0.06990075968505755, -0.027189000014226045], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_spoons": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "spawn": null, "init_state": {"pos": [0.403253972530365, 0.20256920158863068, 0.16761822998523712], "rot": [0.7801259160041809, -0.6250326766195942, 0.023159055531131716, -0.014190365861723547], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula", "spawn": null, "init_state": {"pos": [0.31130489706993103, 0.28100934624671936, 0.17427046597003937], "rot": [0.8123611807823181, 0.13684668715157564, 0.5233539751428492, -0.21781394095827447], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "storage_box": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/storage_box", "spawn": null, "init_state": {"pos": [0.35045546293258667, 0.23540310561656952, 0.0027529820799827576], "rot": [0.9999914765357971, -0.0032916560166222656, 0.0024747320625562617, -0.00029590140775294794], "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01", "/World/envs/env_.*/scene/lemon_02", "/World/envs/env_.*/scene/lime01", "/World/envs/env_.*/scene/lime01_01", "/World/envs/env_.*/scene/orange_01", "/World/envs/env_.*/scene/orange_02", "/World/envs/env_.*/scene/pomegranate01", "/World/envs/env_.*/scene/pumpkinlarge", "/World/envs/env_.*/scene/pumpkinsmall", "/World/envs/env_.*/scene/redonion", "/World/envs/env_.*/scene/serving_bowl", "/World/envs/env_.*/scene/clay_plates", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/wooden_spoons", "/World/envs/env_.*/scene/spatula", "/World/envs/env_.*/scene/storage_box"], "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_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}}}}, "gripper__lemon_01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01"], "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__lemon_02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "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__lime01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "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__lime01_01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "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__orange_01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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__orange_02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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__pomegranate01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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__pumpkinlarge": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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__pumpkinsmall": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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__redonion": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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__serving_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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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__clay_plates": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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__wooden_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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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__wooden_spoons": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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__spatula": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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__storage_box": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "table__lemon_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01"], "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}}}}, "table__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "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}}}}, "table__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "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}}}}, "table__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "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}}}}, "table__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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}}}}, "table__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "table__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "table__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "table__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "table__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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}}}}, "table__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "table__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "table__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "table__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "table__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "table__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "lemon_01__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "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}}}}, "lemon_01__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "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}}}}, "lemon_01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "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}}}}, "lemon_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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}}}}, "lemon_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "lemon_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "lemon_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "lemon_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "lemon_01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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}}}}, "lemon_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "lemon_01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "lemon_01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "lemon_01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "lemon_01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "lemon_01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "lemon_02__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "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}}}}, "lemon_02__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "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}}}}, "lemon_02__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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}}}}, "lemon_02__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "lemon_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "lemon_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "lemon_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "lemon_02__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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}}}}, "lemon_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "lemon_02__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "lemon_02__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "lemon_02__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "lemon_02__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "lemon_02__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "lime01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "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}}}}, "lime01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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}}}}, "lime01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "lime01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "lime01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "lime01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "lime01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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}}}}, "lime01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "lime01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "lime01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "lime01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "lime01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "lime01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "lime01_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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}}}}, "lime01_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "lime01_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "lime01_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "lime01_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "lime01_01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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}}}}, "lime01_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "lime01_01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "lime01_01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "lime01_01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "lime01_01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "lime01_01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "orange_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "orange_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "orange_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "orange_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "orange_01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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}}}}, "orange_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "orange_01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "orange_01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "orange_01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "orange_01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "orange_01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "orange_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "orange_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "orange_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "orange_02__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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}}}}, "orange_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "orange_02__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "orange_02__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "orange_02__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "orange_02__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "orange_02__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "pomegranate01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "pomegranate01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "pomegranate01__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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}}}}, "pomegranate01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "pomegranate01__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "pomegranate01__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "pomegranate01__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "pomegranate01__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "pomegranate01__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "pumpkinlarge__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "pumpkinlarge__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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}}}}, "pumpkinlarge__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "pumpkinlarge__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "pumpkinlarge__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "pumpkinlarge__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "pumpkinlarge__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "pumpkinlarge__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "pumpkinsmall__redonion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/redonion"], "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}}}}, "pumpkinsmall__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "pumpkinsmall__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "pumpkinsmall__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "pumpkinsmall__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "pumpkinsmall__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "pumpkinsmall__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "redonion__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "redonion__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "redonion__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "redonion__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "redonion__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "redonion__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/redonion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "serving_bowl__clay_plates": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/clay_plates"], "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}}}}, "serving_bowl__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "serving_bowl__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "serving_bowl__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "serving_bowl__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "clay_plates__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "clay_plates__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "clay_plates__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "clay_plates__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/clay_plates", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "wooden_bowl__wooden_spoons": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_spoons"], "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}}}}, "wooden_bowl__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "wooden_bowl__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "wooden_spoons__spatula": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula"], "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}}}}, "wooden_spoons__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_spoons", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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}}}}, "spatula__storage_box": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/storage_box"], "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": ["redonion"], "reference_object": "clay_plates", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"redonion": [["functools.partial(<function object_grabbed at 0x7f5460e313a0>, object='redonion')", 0.0], ["functools.partial(<function object_on_top at 0x7f5460e31120>, object='redonion', reference_object='clay_plates', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "vague", "simple"], "_task_attributes": ["semantics", "vague", "simple"], "_task_name": "FruitsOnionToPlateTask", "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": "Put the onion on the plate", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_bowl", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put the onion on the plate", "vague": "Plate the onion", "specific": "Pick up the round onion and place it on the flat plate"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0a2f9d06f2024bd24ef75043e18e3817943b649
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 0, "success": true, "final_step": 114, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.149m", "score": 0.0}, {"step": 66, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 71, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 83, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 104, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 109, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 112, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b213d23f44ee10a5efae2e626cb2bbfa0d790ee5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 1, "success": true, "final_step": 125, "events": [{"step": 8, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.154m", "score": 0.0}, {"step": 26, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 81, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 88, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 88, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 88, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 125, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff59fa90fed6b8b5a2eccce1a4ec3f66a2ed2118
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 2, "success": true, "final_step": 211, "events": [{"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.150m", "score": 0.0}, {"step": 74, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.109m", "score": 0.0}, {"step": 79, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.077m", "score": 0.0}, {"step": 129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "score": 0.0}, {"step": 184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 211, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..dc8e5a886f0fb83e63dcce2d65a521335fc1b9f7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5943938454b5c964884a99c8ff04c1ed5c0f1028c97e08d3870e250f0c46aa62
+size 558199
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..18e94e1cb9b458d4daf71b8d81823bd37d5a31c0
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39fc4d9e8e760678c878c6d5d6e9c1dd8d3354e838749faaecc4e6af79bbd5ea
+size 556158
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bb9806523e3c5ce46d5fa5894f1ba9ea90f2c8f9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/FruitsOnionToPlateTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f98541202c5808693b2e6d87eb0d6f496d463b71a1cfe71abbbb597ce0cc8b58
+size 654690
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63313ba0dfdaff83f3dcdf95ab7b684421e29131
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b15cfdcf07cae44d0c2baedaeeae3d9173d6ef865f012b260fd6e09818f285d6
+size 11224400
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe6c921143d836974a894c81fecf75461e5830c3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f04be41259c60143c3621e4efa03de0695767d62ef1e88401879ea9c7776b5
+size 2148670
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8c810e07037f4541c43c28ab6b90de4da845acf
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36cf8b3d2bc2e83a98025acdb040e4c36df28fd8a1fd0d94d77018d58dcf0fe2
+size 1870343
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d4938662c5e078bd44dde7f89f78f2d4136ea6c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28a99af9f3b2a5e044bc574eb8c956d3dd23290b73a65b6e395fd1a24568b11a
+size 556528
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7204318197376fc360c5bbb3896c3c80ab0595a0
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ebb98d2cbac4fbf55148436578c0e7f932e6f7a673de903490eafdf846e8da
+size 1812865
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a15b3d4d51252fb012f08f0a95d8f471322a011
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/Put_the_red_mug_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d3b7aafe81972b2188f15a2409339bfa13185b6c73851a7f4c5a3b45e9a159
+size 488383
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fe795f5a8ac6c3193cb8e55f5c8b78b44676ad7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/env_cfg.json
@@ -0,0 +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:5", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/mugs4_measuringcup_drill_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": [0.19859051704406738, 0.02206825092434883, 0.05000218003988266], "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": [0.35782724618911743, 0.3763640522956848, 0.07732968032360077], "rot": [0.9999999403953552, -0.00012315334089582557, -0.00032254408073493655, 2.8029639881610967e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5832740068435669, 0.22122739255428314, 0.07584488391876221], "rot": [-0.019453495740890895, -0.5853738101613162, 0.2856686370767541, 0.7585199362385887], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_mug", "spawn": null, "init_state": {"pos": [0.39194390177726746, 0.037837915122509, 0.09039348363876343], "rot": [-1.0925608876221141e-05, 4.451722368129039e-06, 0.9999998823001713, 0.0004850365519860139], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "measuring_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "spawn": null, "init_state": {"pos": [0.3738410770893097, -0.1864493191242218, 0.06675710529088974], "rot": [-0.00888706091791396, 0.842426023697509, 0.538558437373867, 0.013936437093616624], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.6764830350875854, 0.03290592506527901, 0.07785587012767792], "rot": [0.9152725338935852, -0.0005974074681097348, -0.0002446923022473885, -0.4028346707149351], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sideways_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "spawn": null, "init_state": {"pos": [0.548629641532898, -0.04846367985010147, 0.08577942848205566], "rot": [0.7562733888626096, 0.5648941268000712, -0.327974609952878, 0.03711929459602575], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "upright_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "spawn": null, "init_state": {"pos": [0.3096252977848053, 0.2240147441625595, 0.050030045211315155], "rot": [0.9999956488609314, -0.002799682681416, 0.0008981943643202386, 0.0002393386138476552], "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/upright_white_mug", "/World/envs/env_.*/scene/sideways_white_mug", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/measuring_cup"], "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__red_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug"], "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_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__ceramic_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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__upright_white_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "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__sideways_white_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "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__cordless_drill": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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__measuring_cup": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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_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}}}}, "red_mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "red_mug__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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}}}}, "red_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "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}}}}, "red_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "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}}}}, "red_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "red_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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}}}}, "red_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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__ceramic_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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__upright_white_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "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__sideways_white_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "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__cordless_drill": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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__measuring_cup": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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_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}}}}, "ceramic_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "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}}}}, "ceramic_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "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}}}}, "ceramic_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "ceramic_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "upright_white_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "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}}}}, "upright_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "upright_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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}}}}, "upright_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "sideways_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "sideways_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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}}}}, "sideways_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "cordless_drill__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "measuring_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["red_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_red_mug": [["functools.partial(<function object_grabbed at 0x7f5460e313a0>, object='red_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f54618df9c0>, object='red_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_red_mug"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientRedMugTask", "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": "Put the red mug upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Put the red mug upright so that the opening is facing upwards.", "vague": "Fix the red cup", "specific": "Check the red ceramic mug and if it is tipped over or inverted, rotate it so the opening faces upward. Leave it if already upright."}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..de3caec1296e35e9af5e83f049dceb50396ad643
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 699, "events": [{"step": 19, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 19, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 28, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 84, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 105, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.319m", "score": 0.5}, {"step": 120, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.096m", "score": 0.5}, {"step": 129, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 132, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 152, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_mug' displaced 0.847m", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 251, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 266, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.081m", "score": 0.0}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 309, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 313, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 313, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 335, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 350, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 387, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 407, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 407, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.094m", "score": 0.0}, {"step": 443, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 455, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 455, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 457, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 457, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 474, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 486, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 549, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 549, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 552, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 552, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 566, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 569, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 569, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 573, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 573, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 577, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 592, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 592, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 595, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 595, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 596, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 596, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 598, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 598, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 601, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.076m", "score": 0.0}, {"step": 634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 639, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 639, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 649, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 665, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 685, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 687, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 687, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 687, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d681c04943a64482365d35e8e1fec352d4472f30
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 1, "success": true, "final_step": 98, "events": [{"step": 23, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 23, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 35, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 36, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 36, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 38, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 39, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 39, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 46, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.095m", "score": 0.0}, {"step": 58, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 94, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 97, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 97, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 98, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.072m", "score": 1.0}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e20e28b37a1ef5aabaafda0c002bedb318b387b4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 99, "events": [{"step": 29, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 29, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 45, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 46, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 49, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.156m", "score": 0.0}, {"step": 78, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 81, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 93, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 93, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 93, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 97, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 97, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 99, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..738d16c6b0ebad3af2a06a6ec8560b55fce2a2fa
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43f593761aaefee8f925efcfb5494b37da3b6c450d01617e2fa6bc75f9c3e5bb
+size 626596
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..395570fbec15fc60cefb1c39b2a30a30294f8ac9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:059535fcb07fbd4026fdcb62de935f39a9cbb2ce850141db4d74715246e2ff77
+size 307765
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..17b15538834ee158ad21f51bc0a5d885193caea7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/ReorientRedMugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e50f5ad968b23ac1692d5410f5de771fa00132bd6ed54c867210855b4703c8b7
+size 308184
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_image640/gpu_5/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a0a84cb7f06cd5fcd476ad85abf575b9378847bb
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad132d328b82ec2ec63e5cd4c2a6410359212adac64e5fc070c175ac1520f79b
+size 18343
diff --git a/harness_robolab_exploration/embo_image640/gpu_5/server.log b/harness_robolab_exploration/embo_image640/gpu_5/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..0db2b4d5048431c3387ae499f145986a83aae3f1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_5/server.log
@@ -0,0 +1,39 @@
+[2026-11-02T00:40:08Z] GPU 5: Starting worker at FruitsOnionToPlateTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8101
+INFO:websockets.server:server listening on 127.0.0.1:8101
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 44680) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3c584d86cb0a42b987550bd18eb65c4e-0 (codex/gpt-6-astra) ended: wall=423.536s harness=347.546s tokens=1193504 usage_complete=False decisions=15 executed_steps=114 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c48381f1507d4204aa194ed1fb69e014-1 (codex/gpt-6-astra) ended: wall=642.729s harness=560.404s tokens=1215637 usage_complete=False decisions=16 executed_steps=125 steps_complete=True network_wait=147.1278248205781 rate_limit_wait=0 rate_limit_count=0 excluded=147.1278248205781 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f81f3da75aa646e9927f100798a6a145-2 (codex/gpt-6-astra) ended: wall=1085.381s harness=948.322s tokens=2044689 usage_complete=False decisions=27 executed_steps=211 steps_complete=True network_wait=720.6797593384981 rate_limit_wait=0 rate_limit_count=0 excluded=720.6797593384981 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8f7be56ea07c462689e7e4e55119609a-0 (codex/gpt-6-astra) ended: wall=2310.142s harness=2204.830s tokens=4686739 usage_complete=False decisions=52 executed_steps=409 steps_complete=True network_wait=1046.4413420856 rate_limit_wait=0 rate_limit_count=0 excluded=1046.4413420856 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f6cc2f7450854500bcd81768a5445d83-1 (codex/gpt-6-astra) ended: wall=2003.293s harness=1910.638s tokens=3731815 usage_complete=False decisions=45 executed_steps=360 steps_complete=True network_wait=1137.4791212752461 rate_limit_wait=0 rate_limit_count=0 excluded=1137.4791212752461 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b5b4dc5ed91e4edda1cbec21da81630a-2 (codex/gpt-6-astra) ended: wall=1266.911s harness=1184.627s tokens=3241661 usage_complete=False decisions=40 executed_steps=316 steps_complete=True network_wait=743.9917494729161 rate_limit_wait=0 rate_limit_count=0 excluded=743.9917494729161 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3828c06ede6c4c8ea33b92b9a94b31ec-0 (codex/gpt-6-astra) ended: wall=4489.487s harness=4256.766s tokens=10024019 usage_complete=False decisions=88 executed_steps=699 steps_complete=True network_wait=2774.302613809705 rate_limit_wait=0 rate_limit_count=0 excluded=2774.302613809705 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f1674e02ff7a4b85b495fb15d0dedc2e-1 (codex/gpt-6-astra) ended: wall=360.883s harness=328.864s tokens=990846 usage_complete=False decisions=13 executed_steps=98 steps_complete=True network_wait=51.25454407185316 rate_limit_wait=0 rate_limit_count=0 excluded=51.25454407185316 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3ce5fc5af46647fa9f5c9046ab5364e3-2 (codex/gpt-6-astra) ended: wall=506.686s harness=475.087s tokens=979240 usage_complete=False decisions=13 executed_steps=99 steps_complete=True network_wait=185.0311630219221 rate_limit_wait=0 rate_limit_count=0 excluded=185.0311630219221 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ca043ad07a174ad89f57a0e745be3d5c-0 (codex/gpt-6-astra) ended: wall=5907.426s harness=5682.902s tokens=12981269 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=9220.977921240032 rate_limit_wait=0 rate_limit_count=0 excluded=9220.977921240032 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c94bc66608d74fe0b97ecd81165c79a5-1 (codex/gpt-6-astra) ended: wall=1655.422s harness=1565.102s tokens=3847313 usage_complete=False decisions=46 executed_steps=362 steps_complete=True network_wait=919.498868085444 rate_limit_wait=0 rate_limit_count=0 excluded=919.498868085444 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 4adb02a3e9ce44618a4c53b0663a9b30-2 (codex/gpt-6-astra) ended: wall=1039.270s harness=976.104s tokens=2464678 usage_complete=False decisions=32 executed_steps=251 steps_complete=True network_wait=170.11603936553 rate_limit_wait=0 rate_limit_count=0 excluded=170.11603936553 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e083efbe29124901b7329597fd928458-0 (codex/gpt-6-astra) ended: wall=657.898s harness=611.721s tokens=1530465 usage_complete=False decisions=22 executed_steps=171 steps_complete=True network_wait=246.80486433953047 rate_limit_wait=0 rate_limit_count=0 excluded=246.80486433953047 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 0af21ffc812a4a93b61a4ec24c1f0b86-1 (codex/gpt-6-astra) ended: wall=309.798s harness=289.193s tokens=786486 usage_complete=False decisions=10 executed_steps=74 steps_complete=True network_wait=62.07603890448809 rate_limit_wait=0 rate_limit_count=0 excluded=62.07603890448809 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 953cab463f464dcfaa571399f3821a9d-2 (codex/gpt-6-astra) ended: wall=485.572s harness=451.687s tokens=1089528 usage_complete=False decisions=16 executed_steps=123 steps_complete=True network_wait=60.936866492033005 rate_limit_wait=0 rate_limit_count=0 excluded=60.936866492033005 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_5/harness/20261102T004010.739288Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 44680) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/client.log b/harness_robolab_exploration/embo_image640/gpu_6/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..ae4941842ebfd475013bda6b201ec0d636dea353
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/client.log
@@ -0,0 +1,1544 @@
+[2026-11-02T00:40:08Z] GPU 6: Starting worker at MarkerInMugTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261102_004012.log
+2026-11-02T00:40:13Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-02T00:40:13Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-02T00:40:13Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-02T00:40:13Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-02T00:40:13Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-02T00:40:13Z [30ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-02T00:40:13Z [33ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-02T00:40:13Z [36ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-02T00:40:13Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-02T00:40:13Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-02T00:40:13Z [48ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-02T00:40:13Z [89ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-02T00:40:13Z [111ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-02T00:40:13Z [121ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-02T00:40:13Z [192ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-02T00:40:13Z [211ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-02T00:40:13Z [225ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-02T00:40:17Z [4,232ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:17Z [4,232ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:17Z [4,366ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-02T00:40:20Z [7,781ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:20Z [7,783ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:20Z [7,784ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 919346
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-02T00:40:28Z [15,794ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-02T00:40:28Z [15,795ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 892.65   4.14   3.71   3.61   2.45   3.07   3.56   3.16 
+     1   2.57 905.80   5.74   3.64   2.53   2.86   3.46   4.64 
+     2   3.57   2.15 899.02   2.27   5.47   5.08   4.46   5.09 
+     3  10.76   8.89   4.22 876.82   8.63   7.29   9.28  13.08 
+     4  18.03  15.21  12.90   8.16 911.36   9.58   9.33  10.41 
+     5  13.28  10.20   8.12   6.66   8.01 906.98   7.39  12.86 
+     6  12.87  13.37  13.24  17.77   1.60   3.91 920.74  13.83 
+     7  11.28   8.92   8.38  10.44  11.63   2.45   1.87 931.72 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.36  18.45  16.98  17.23  78.35  37.44  29.74  19.07 
+     1  13.83   1.44  15.49  14.78  25.75  66.48  22.06  22.74 
+     2  14.31  14.01   1.43  14.14  15.32 184.93  22.57  20.38 
+     3  15.84  13.89  13.99   1.32  15.70  22.89 741.77 493.94 
+     4  10.68  31.32  13.89  14.07   1.40  13.78  18.91 758.46 
+     5  16.18  12.78  25.10  15.63  15.55   1.44  19.09  39.74 
+     6  21.70  21.90  20.18  13.51  12.19  13.05   1.41  22.61 
+     7 601.73 404.25 439.07 434.52 450.06 488.74 668.76   1.50 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.75   8.14   7.88   7.82   8.78   8.58   8.75   8.58 
+     1   8.10   2.55   7.78   7.73   8.62   8.53   8.68   8.56 
+     2   7.94   7.85   2.61   7.87   8.60   8.52   8.69   8.55 
+     3   7.97   7.86   7.77   2.56   8.66   8.47   8.62   8.84 
+     4   8.79   8.63   8.54   8.45   2.82   9.29   9.37   9.21 
+     5   8.42   8.28   8.34   8.26   9.19   2.79   9.10   9.06 
+     6   8.49   8.37   8.26   8.31   9.18   9.02   3.00   9.24 
+     7   8.49   8.38   8.25   8.35   9.28   9.04   9.23   2.87 
+2026-11-02T00:40:39Z [26,173ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.6 GB/s.
+2026-11-02T00:40:39Z [26,174ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 758.5 us.
+2026-11-02T00:40:39Z [26,174ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-02T00:40:42Z [29,086ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,086ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:42Z [29,153ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,153ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:42Z [29,165ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,165ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:42Z [29,374ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,374ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:42Z [29,380ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,380ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:42Z [29,385ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:42Z [29,385ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:44Z [31,350ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-02T00:40:48Z [35,469ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-02T00:41:00Z [47,946ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-02T00:41:02Z [49,542ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-02T00:41:17Z [64,720ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-02T00:41:17Z [64,723ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-02T00:41:18Z [65,375ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-02T00:41:23Z [70,507ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T00:41:23Z [70,507ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T00:41:23Z [70,508ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T00:41:23Z [70,517ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-02T00:41:23Z [70,534ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T00:41:23Z [70,536ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-02T00:41:38Z [85,852ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x557779e220e0>)
+
+2026-11-02T00:41:38Z [85,852ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x557779e220e0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T00:41:46Z [93,833ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 3.002592 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T00:41:53Z [100,270ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T00:41:53Z [100,271ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T00:41:53Z [100,303ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T00:41:53Z [100,303ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T00:41:53Z [100,310ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T00:41:53Z [100,317ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T00:41:53Z [100,566ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T00:41:53Z [100,583ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T00:41:56Z [103,291ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-11-02T00:41:56Z [103,292ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,578ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,578ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,829ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,829ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,840ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,840ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,865ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,865ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,870ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((94))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,870ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((94))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,874ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,875ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,901ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,901ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,901ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,907ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,907ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,745ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,745ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,755ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,755ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,824ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,824ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,855ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,855ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-02T00:41:59Z [106,165ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+2026-11-02T00:41:59Z [106,165ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+2026-11-02T00:41:59Z [106,775ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-02T00:42:00Z [107,175ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,176ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,177ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,177ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,178ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,179ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,179ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,179ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,180ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,181ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,181ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((94))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,181ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((94))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,182ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,182ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,184ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,184ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,184ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,185ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,185ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,185ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,186ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,186ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,186ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,187ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,188ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,189ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,189ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,194ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,194ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 10.494451 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MarkerInMugTask                               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the whiteboard marker in the mug          │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MarkerInMugTaskSceneEnvCfg                    │
+│  Attributes  : affordance, moderate                          │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MarkerInMugTask_0: 'Put the whiteboard marker in the mug' (run 0, 1 envs)
+
  0%|          | 0/600 [00:00<?, ?it/s]
  0%|          | 1/600 [01:13<12:09:48, 73.10s/it]
  0%|          | 2/600 [01:13<5:03:44, 30.48s/it] 
  0%|          | 3/600 [01:14<2:47:30, 16.83s/it]
  1%|          | 4/600 [01:14<1:43:34, 10.43s/it]
  1%|          | 5/600 [01:15<1:08:11,  6.88s/it]
  1%|          | 6/600 [01:16<46:51,  4.73s/it]  
  1%|          | 7/600 [01:16<33:21,  3.38s/it]
  1%|▏         | 8/600 [01:17<24:32,  2.49s/it]
  2%|▏         | 9/600 [01:33<1:05:40,  6.67s/it]
  2%|▏         | 10/600 [01:33<47:03,  4.79s/it] 
  2%|▏         | 11/600 [01:34<34:19,  3.50s/it]
  2%|▏         | 12/600 [01:34<25:33,  2.61s/it]
  2%|▏         | 13/600 [01:35<19:31,  2.00s/it]
  2%|▏         | 14/600 [01:36<15:17,  1.57s/it]
  2%|▎         | 15/600 [01:36<12:25,  1.27s/it]
  3%|▎         | 16/600 [01:37<10:19,  1.06s/it]
  3%|▎         | 17/600 [01:51<48:10,  4.96s/it]
  3%|▎         | 18/600 [01:51<35:17,  3.64s/it]
  3%|▎         | 19/600 [01:52<26:18,  2.72s/it]
  3%|▎         | 20/600 [01:52<20:02,  2.07s/it]
  4%|▎         | 21/600 [01:53<15:38,  1.62s/it]
  4%|▎         | 22/600 [01:54<12:32,  1.30s/it]
  4%|▍         | 23/600 [01:54<10:23,  1.08s/it]
  4%|▍         | 24/600 [01:55<08:54,  1.08it/s]
  4%|▍         | 25/600 [02:23<1:27:49,  9.16s/it]
  4%|▍         | 26/600 [02:24<1:03:02,  6.59s/it]
  4%|▍         | 27/600 [02:24<45:48,  4.80s/it]  
  5%|▍         | 28/600 [02:25<33:41,  3.53s/it]
  5%|▍         | 29/600 [02:25<25:18,  2.66s/it]2026-11-02T00:44:28Z [255,555ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  5%|▌         | 30/600 [02:26<19:22,  2.04s/it]
  5%|▌         | 31/600 [02:27<15:16,  1.61s/it]
  5%|▌         | 32/600 [02:27<12:19,  1.30s/it]
  6%|▌         | 33/600 [04:12<5:05:07, 32.29s/it]
  6%|▌         | 34/600 [04:12<3:34:56, 22.79s/it]
  6%|▌         | 35/600 [04:13<2:31:49, 16.12s/it]
  6%|▌         | 36/600 [04:14<1:47:49, 11.47s/it]
  6%|▌         | 37/600 [04:14<1:17:03,  8.21s/it]
  6%|▋         | 38/600 [04:15<55:27,  5.92s/it]  
  6%|▋         | 39/600 [04:15<40:19,  4.31s/it]
  7%|▋         | 40/600 [04:16<29:50,  3.20s/it]
  7%|▋         | 41/600 [05:46<4:32:44, 29.28s/it]
  7%|▋         | 42/600 [05:47<3:12:11, 20.67s/it]
  7%|▋         | 43/600 [05:47<2:15:53, 14.64s/it]
  7%|▋         | 44/600 [05:48<1:36:29, 10.41s/it]
  8%|▊         | 45/600 [05:48<1:09:00,  7.46s/it]
  8%|▊         | 46/600 [05:49<49:45,  5.39s/it]  
  8%|▊         | 47/600 [05:50<36:26,  3.95s/it]
  8%|▊         | 48/600 [05:50<27:04,  2.94s/it]
  8%|▊         | 49/600 [06:11<1:16:27,  8.33s/it]
  8%|▊         | 50/600 [06:12<55:04,  6.01s/it]  
  8%|▊         | 51/600 [06:12<40:05,  4.38s/it]
  9%|▊         | 52/600 [06:13<29:40,  3.25s/it]
  9%|▉         | 53/600 [06:13<22:18,  2.45s/it]
  9%|▉         | 54/600 [06:14<17:10,  1.89s/it]
  9%|▉         | 55/600 [06:15<13:35,  1.50s/it]
  9%|▉         | 56/600 [06:15<11:03,  1.22s/it]
 10%|▉         | 57/600 [06:36<1:05:12,  7.20s/it]
 10%|▉         | 58/600 [06:37<47:10,  5.22s/it]  
 10%|▉         | 59/600 [06:37<34:32,  3.83s/it]
 10%|█         | 60/600 [06:38<25:45,  2.86s/it]
 10%|█         | 61/600 [06:39<19:30,  2.17s/it]
 10%|█         | 62/600 [06:39<15:08,  1.69s/it]
 10%|█         | 63/600 [06:40<12:08,  1.36s/it]
 11%|█         | 64/600 [06:40<10:00,  1.12s/it]
 11%|█         | 65/600 [07:11<1:29:17, 10.01s/it]
 11%|█         | 66/600 [07:12<1:03:59,  7.19s/it]
 11%|█         | 67/600 [07:12<46:15,  5.21s/it]  
 11%|█▏        | 68/600 [07:13<33:51,  3.82s/it]
 12%|█▏        | 69/600 [07:13<25:08,  2.84s/it]
 12%|█▏        | 70/600 [07:14<19:07,  2.17s/it]
 12%|█▏        | 71/600 [07:15<14:54,  1.69s/it]
 12%|█▏        | 72/600 [07:15<11:58,  1.36s/it]
 12%|█▏        | 73/600 [08:11<2:35:29, 17.70s/it]
 12%|█▏        | 74/600 [08:12<1:50:13, 12.57s/it]
 12%|█▎        | 75/600 [08:12<1:18:32,  8.98s/it]
 13%|█▎        | 76/600 [08:13<56:28,  6.47s/it]  
 13%|█▎        | 77/600 [08:13<40:59,  4.70s/it]
 13%|█▎        | 78/600 [08:14<30:17,  3.48s/it]
 13%|█▎        | 79/600 [08:15<22:47,  2.62s/it]
 13%|█▎        | 80/600 [08:15<17:30,  2.02s/it]
 14%|█▎        | 81/600 [08:55<1:55:41, 13.37s/it]
 14%|█▎        | 82/600 [08:56<1:22:23,  9.54s/it]
 14%|█▍        | 83/600 [08:56<59:05,  6.86s/it]  
 14%|█▍        | 84/600 [08:57<42:48,  4.98s/it]
 14%|█▍        | 85/600 [08:58<31:25,  3.66s/it]
 14%|█▍        | 86/600 [08:58<23:26,  2.74s/it]
 14%|█▍        | 87/600 [08:59<17:53,  2.09s/it]
 15%|█▍        | 88/600 [08:59<14:00,  1.64s/it]
 15%|█▍        | 89/600 [09:59<2:42:22, 19.07s/it]
 15%|█▌        | 90/600 [10:00<1:54:55, 13.52s/it]
 15%|█▌        | 91/600 [10:00<1:21:42,  9.63s/it]
 15%|█▌        | 92/600 [10:01<58:34,  6.92s/it]  
 16%|█▌        | 93/600 [10:01<42:19,  5.01s/it]
 16%|█▌        | 94/600 [10:02<31:02,  3.68s/it]
 16%|█▌        | 95/600 [10:02<23:08,  2.75s/it]
 16%|█▌        | 96/600 [10:03<17:37,  2.10s/it]
 16%|█▌        | 97/600 [10:18<48:54,  5.83s/it]
 16%|█▋        | 98/600 [10:18<35:37,  4.26s/it]
 16%|█▋        | 99/600 [10:19<26:22,  3.16s/it]
 17%|█▋        | 100/600 [10:19<19:53,  2.39s/it]
 17%|█▋        | 101/600 [10:20<15:23,  1.85s/it]
 17%|█▋        | 102/600 [10:21<12:13,  1.47s/it]
 17%|█▋        | 103/600 [10:21<10:02,  1.21s/it]
 17%|█▋        | 104/600 [10:22<08:30,  1.03s/it]
 18%|█▊        | 105/600 [10:57<1:32:23, 11.20s/it]
 18%|█▊        | 106/600 [10:57<1:06:01,  8.02s/it]
 18%|█▊        | 107/600 [10:58<47:33,  5.79s/it]  
 18%|█▊        | 108/600 [10:58<34:40,  4.23s/it]
 18%|█▊        | 109/600 [10:59<25:40,  3.14s/it]
 18%|█▊        | 110/600 [11:00<19:22,  2.37s/it]
 18%|█▊        | 111/600 [11:00<14:58,  1.84s/it]
 19%|█▊        | 112/600 [11:01<11:53,  1.46s/it]
 19%|█▉        | 113/600 [12:30<3:44:48, 27.70s/it]
 19%|█▉        | 114/600 [12:30<2:38:27, 19.56s/it]
 19%|█▉        | 115/600 [12:31<1:52:06, 13.87s/it]
 19%|█▉        | 116/600 [12:31<1:19:46,  9.89s/it]
 20%|█▉        | 117/600 [12:32<57:10,  7.10s/it]  
 20%|█▉        | 118/600 [12:33<41:23,  5.15s/it]
 20%|█▉        | 119/600 [12:33<30:17,  3.78s/it]
 20%|██        | 120/600 [12:34<22:32,  2.82s/it]
 20%|██        | 121/600 [13:14<1:52:59, 14.15s/it]
 20%|██        | 122/600 [13:15<1:20:28, 10.10s/it]
 20%|██        | 123/600 [13:16<57:40,  7.25s/it]  
 21%|██        | 124/600 [13:16<41:43,  5.26s/it]
 21%|██        | 125/600 [13:17<30:34,  3.86s/it]
 21%|██        | 126/600 [13:17<22:43,  2.88s/it]
 21%|██        | 127/600 [13:18<17:19,  2.20s/it]
 21%|██▏       | 128/600 [13:19<13:28,  1.71s/it]
 22%|██▏       | 129/600 [14:05<1:59:26, 15.21s/it]
 22%|██▏       | 130/600 [14:06<1:24:52, 10.84s/it]
 22%|██▏       | 131/600 [14:07<1:00:43,  7.77s/it]
 22%|██▏       | 132/600 [14:07<43:53,  5.63s/it]  
 22%|██▏       | 133/600 [14:08<32:05,  4.12s/it]
 22%|██▏       | 134/600 [14:08<23:49,  3.07s/it]
 22%|██▎       | 135/600 [14:09<18:03,  2.33s/it]
 23%|██▎       | 136/600 [14:10<14:03,  1.82s/it]
 23%|██▎       | 137/600 [15:13<2:35:31, 20.16s/it]
 23%|██▎       | 138/600 [15:13<1:50:13, 14.32s/it]
 23%|██▎       | 139/600 [15:14<1:18:24, 10.21s/it]
 23%|██▎       | 140/600 [15:15<56:14,  7.34s/it]  
 24%|██▎       | 141/600 [15:15<40:39,  5.31s/it]
 24%|██▎       | 142/600 [15:16<29:48,  3.91s/it]
 24%|██▍       | 143/600 [15:16<22:16,  2.92s/it]
 24%|██▍       | 144/600 [15:17<17:00,  2.24s/it]
 24%|██▍       | 145/600 [16:12<2:16:47, 18.04s/it]
 24%|██▍       | 146/600 [16:13<1:36:56, 12.81s/it]
 24%|██▍       | 147/600 [16:13<1:09:08,  9.16s/it]
 25%|██▍       | 148/600 [16:14<49:41,  6.60s/it]  
 25%|██▍       | 149/600 [16:14<36:03,  4.80s/it]
 25%|██▌       | 150/600 [16:15<26:34,  3.54s/it]
 25%|██▌       | 151/600 [16:16<20:00,  2.67s/it]
 25%|██▌       | 152/600 [16:16<15:25,  2.07s/it]
 26%|██▌       | 153/600 [16:50<1:25:58, 11.54s/it]
 26%|██▌       | 154/600 [16:51<1:01:27,  8.27s/it]
 26%|██▌       | 155/600 [16:51<44:16,  5.97s/it]  
 26%|██▌       | 156/600 [16:52<32:21,  4.37s/it]
 26%|██▌       | 157/600 [16:52<23:56,  3.24s/it]
 26%|██▋       | 158/600 [16:53<18:08,  2.46s/it]
 26%|██▋       | 159/600 [16:54<14:02,  1.91s/it]
 27%|██▋       | 160/600 [16:54<11:08,  1.52s/it]
 27%|██▋       | 161/600 [17:37<1:40:47, 13.78s/it]
 27%|██▋       | 162/600 [17:37<1:11:45,  9.83s/it]
 27%|██▋       | 163/600 [17:38<51:27,  7.06s/it]  
 27%|██▋       | 164/600 [17:39<37:17,  5.13s/it]
 28%|██▊       | 165/600 [17:39<27:24,  3.78s/it]
 28%|██▊       | 166/600 [17:40<20:27,  2.83s/it]
 28%|██▊       | 167/600 [17:40<15:33,  2.16s/it]
 28%|██▊       | 168/600 [17:41<12:11,  1.69s/it]
 28%|██▊       | 169/600 [19:11<3:21:59, 28.12s/it]
 28%|██▊       | 170/600 [19:11<2:22:20, 19.86s/it]
 28%|██▊       | 171/600 [19:12<1:40:45, 14.09s/it]
 29%|██▊       | 172/600 [19:13<1:11:39, 10.05s/it]
 29%|██▉       | 173/600 [19:13<51:23,  7.22s/it]  
 29%|██▉       | 174/600 [19:14<37:10,  5.24s/it]
 29%|██▉       | 175/600 [19:14<27:16,  3.85s/it]
 29%|██▉       | 176/600 [19:15<20:18,  2.87s/it]
 30%|██▉       | 177/600 [19:59<1:46:15, 15.07s/it]
 30%|██▉       | 178/600 [19:59<1:15:30, 10.74s/it]
 30%|██▉       | 179/600 [20:00<54:03,  7.70s/it]  
 30%|███       | 180/600 [20:00<39:02,  5.58s/it]
 30%|███       | 181/600 [20:01<28:37,  4.10s/it]
 30%|███       | 182/600 [20:02<21:25,  3.08s/it]
 30%|███       | 183/600 [20:02<16:21,  2.35s/it]
 31%|███       | 184/600 [20:03<12:51,  1.86s/it]
 31%|███       | 185/600 [21:04<2:15:21, 19.57s/it]
 31%|███       | 186/600 [21:05<1:35:49, 13.89s/it]
 31%|███       | 187/600 [21:05<1:08:13,  9.91s/it]
 31%|███▏      | 188/600 [21:06<48:55,  7.13s/it]  
 32%|███▏      | 189/600 [21:07<35:27,  5.18s/it]
 32%|███▏      | 190/600 [21:07<26:03,  3.81s/it]
 32%|███▏      | 191/600 [21:08<19:29,  2.86s/it]
 32%|███▏      | 192/600 [21:08<14:49,  2.18s/it]
 32%|███▏      | 193/600 [22:22<2:39:36, 23.53s/it]
 32%|███▏      | 194/600 [22:22<1:52:40, 16.65s/it]
 32%|███▎      | 195/600 [22:23<1:19:55, 11.84s/it]
 33%|███▎      | 196/600 [22:24<57:03,  8.47s/it]  
 33%|███▎      | 197/600 [22:24<41:05,  6.12s/it]
 33%|███▎      | 198/600 [22:25<29:51,  4.46s/it]
 33%|███▎      | 199/600 [22:25<22:02,  3.30s/it]
 33%|███▎      | 200/600 [22:26<16:35,  2.49s/it]
 34%|███▎      | 201/600 [22:57<1:12:45, 10.94s/it]
 34%|███▎      | 202/600 [22:57<51:54,  7.83s/it]  
 34%|███▍      | 203/600 [22:58<37:25,  5.66s/it]
 34%|███▍      | 204/600 [22:58<27:18,  4.14s/it]
 34%|███▍      | 205/600 [22:59<20:12,  3.07s/it]
 34%|███▍      | 206/600 [23:00<15:16,  2.33s/it]
 34%|███▍      | 207/600 [23:00<11:46,  1.80s/it]
 35%|███▍      | 208/600 [23:01<09:23,  1.44s/it]
 35%|███▍      | 209/600 [23:24<51:35,  7.92s/it]
 35%|███▌      | 210/600 [23:24<37:06,  5.71s/it]
 35%|███▌      | 211/600 [23:25<27:02,  4.17s/it]
 35%|███▌      | 212/600 [23:26<20:02,  3.10s/it]
 36%|███▌      | 213/600 [23:26<15:05,  2.34s/it]
 36%|███▌      | 214/600 [23:27<11:40,  1.81s/it]
 36%|███▌      | 215/600 [23:27<09:13,  1.44s/it]
 36%|███▌      | 216/600 [23:28<07:35,  1.19s/it]
 36%|███▌      | 217/600 [24:58<2:57:58, 27.88s/it]
 36%|███▋      | 218/600 [24:59<2:05:26, 19.70s/it]
 36%|███▋      | 219/600 [24:59<1:28:42, 13.97s/it]
 37%|███▋      | 220/600 [25:00<1:03:04,  9.96s/it]
 37%|███▋      | 221/600 [25:00<45:06,  7.14s/it]  
 37%|███▋      | 222/600 [25:01<32:38,  5.18s/it]
 37%|███▋      | 223/600 [25:02<23:54,  3.81s/it]
 37%|███▋      | 224/600 [25:02<17:48,  2.84s/it]
 38%|███▊      | 225/600 [26:06<2:11:37, 21.06s/it]
 38%|███▊      | 226/600 [26:06<1:33:01, 14.92s/it]
 38%|███▊      | 227/600 [26:07<1:06:03, 10.62s/it]
 38%|███▊      | 228/600 [26:08<47:11,  7.61s/it]  
 38%|███▊      | 229/600 [26:08<34:00,  5.50s/it]
 38%|███▊      | 230/600 [26:09<24:52,  4.03s/it]
 38%|███▊      | 231/600 [26:09<18:25,  3.00s/it]
 39%|███▊      | 232/600 [26:10<13:55,  2.27s/it]
 39%|███▉      | 233/600 [28:48<5:00:06, 49.06s/it]
 39%|███▉      | 234/600 [28:49<3:30:32, 34.52s/it]
 39%|███▉      | 235/600 [28:49<2:28:03, 24.34s/it]
 39%|███▉      | 236/600 [28:50<1:44:27, 17.22s/it]
 40%|███▉      | 237/600 [28:50<1:13:57, 12.22s/it]
 40%|███▉      | 238/600 [28:51<52:42,  8.74s/it]  
 40%|███▉      | 239/600 [28:52<37:51,  6.29s/it]
 40%|████      | 240/600 [28:52<27:31,  4.59s/it]
 40%|████      | 241/600 [34:44<10:50:24, 108.70s/it]
 40%|████      | 242/600 [34:44<7:35:01, 76.26s/it]  
 40%|████      | 243/600 [34:45<5:18:37, 53.55s/it]
 41%|████      | 244/600 [34:46<3:43:26, 37.66s/it]
 41%|████      | 245/600 [34:46<2:37:00, 26.54s/it]
 41%|████      | 246/600 [34:47<1:50:37, 18.75s/it]
 41%|████      | 247/600 [34:47<1:18:15, 13.30s/it]
 41%|████▏     | 248/600 [34:48<55:39,  9.49s/it]  
 42%|████▏     | 249/600 [40:33<10:44:28, 110.17s/it]
 42%|████▏     | 250/600 [40:34<7:30:51, 77.29s/it]  
 42%|████▏     | 251/600 [40:34<5:15:41, 54.27s/it]
 42%|████▏     | 252/600 [40:35<3:41:20, 38.16s/it]
 42%|████▏     | 253/600 [40:35<2:35:29, 26.89s/it]
 42%|████▏     | 254/600 [40:36<1:49:34, 19.00s/it]
 42%|████▎     | 255/600 [40:37<1:17:32, 13.49s/it]
 43%|████▎     | 256/600 [40:37<55:07,  9.62s/it]  
 43%|████▎     | 257/600 [44:09<6:41:43, 70.27s/it]
 43%|████▎     | 258/600 [44:10<4:41:30, 49.39s/it]
 43%|████▎     | 259/600 [44:10<3:17:31, 34.76s/it]
 43%|████▎     | 260/600 [44:11<2:18:53, 24.51s/it]
 44%|████▎     | 261/600 [44:11<1:37:59, 17.34s/it]
 44%|████▎     | 262/600 [44:12<1:09:26, 12.33s/it]
 44%|████▍     | 263/600 [44:13<49:32,  8.82s/it]  
 44%|████▍     | 264/600 [44:13<35:40,  6.37s/it]
 44%|████▍     | 265/600 [44:42<1:13:10, 13.10s/it]
 44%|████▍     | 266/600 [44:43<52:06,  9.36s/it]  
 44%|████▍     | 267/600 [44:43<37:22,  6.73s/it]
 45%|████▍     | 268/600 [44:44<27:05,  4.90s/it]
 45%|████▍     | 269/600 [44:45<19:55,  3.61s/it]
 45%|████▌     | 270/600 [44:45<14:52,  2.71s/it]
 45%|████▌     | 271/600 [44:46<11:21,  2.07s/it]
 45%|████▌     | 272/600 [44:46<08:56,  1.64s/it]
 46%|████▌     | 273/600 [45:58<2:02:32, 22.48s/it]
 46%|████▌     | 274/600 [45:58<1:26:32, 15.93s/it]
 46%|████▌     | 275/600 [45:59<1:01:24, 11.34s/it]
 46%|████▌     | 276/600 [45:59<43:51,  8.12s/it]  
 46%|████▌     | 277/600 [46:00<31:36,  5.87s/it]
 46%|████▋     | 278/600 [46:01<23:02,  4.29s/it]
 46%|████▋     | 279/600 [46:01<17:04,  3.19s/it]
 47%|████▋     | 280/600 [46:02<12:54,  2.42s/it]
 47%|████▋     | 281/600 [49:52<6:15:15, 70.58s/it]
 47%|████▋     | 282/600 [49:52<4:22:49, 49.59s/it]
 47%|████▋     | 283/600 [49:53<3:04:27, 34.91s/it]
 47%|████▋     | 284/600 [49:53<2:09:43, 24.63s/it]
 48%|████▊     | 285/600 [49:54<1:31:32, 17.44s/it]
 48%|████▊     | 286/600 [49:55<1:04:48, 12.38s/it]
 48%|████▊     | 287/600 [49:55<46:12,  8.86s/it]  
 48%|████▊     | 288/600 [49:56<33:10,  6.38s/it]
 48%|████▊     | 289/600 [1:00:12<16:20:36, 189.19s/it]
 48%|████▊     | 290/600 [1:00:12<11:25:11, 132.62s/it]
 48%|████▊     | 291/600 [1:00:13<7:59:03, 93.02s/it]  
 49%|████▊     | 292/600 [1:00:14<5:35:12, 65.30s/it]
 49%|████▉     | 293/600 [1:00:14<3:54:50, 45.90s/it]
 49%|████▉     | 294/600 [1:00:15<2:44:45, 32.31s/it]
 49%|████▉     | 295/600 [1:00:15<1:55:53, 22.80s/it]
 49%|████▉     | 296/600 [1:00:16<1:21:48, 16.15s/it]
 50%|████▉     | 297/600 [1:01:31<2:50:04, 33.68s/it]
 50%|████▉     | 298/600 [1:01:31<1:59:34, 23.76s/it]
 50%|████▉     | 299/600 [1:01:32<1:24:20, 16.81s/it]
 50%|█████     | 300/600 [1:01:32<59:46, 11.95s/it]  
 50%|█████     | 301/600 [1:01:33<42:36,  8.55s/it]
 50%|█████     | 302/600 [1:01:34<30:38,  6.17s/it]
 50%|█████     | 303/600 [1:01:34<22:16,  4.50s/it]
 51%|█████     | 304/600 [1:01:35<16:30,  3.35s/it]
 51%|█████     | 305/600 [1:04:36<4:38:14, 56.59s/it]
 51%|█████     | 306/600 [1:04:36<3:15:00, 39.80s/it]
 51%|█████     | 307/600 [1:04:37<2:16:55, 28.04s/it]
 51%|█████▏    | 308/600 [1:04:38<1:36:24, 19.81s/it]
 52%|█████▏    | 309/600 [1:04:38<1:08:08, 14.05s/it]
 52%|█████▏    | 310/600 [1:04:39<48:25, 10.02s/it]  
 52%|█████▏    | 311/600 [1:04:39<34:42,  7.21s/it]
 52%|█████▏    | 312/600 [1:04:40<25:05,  5.23s/it]
 52%|█████▏    | 313/600 [1:05:41<1:45:14, 22.00s/it]
 52%|█████▏    | 314/600 [1:05:42<1:14:16, 15.58s/it]
 52%|█████▎    | 315/600 [1:05:42<52:40, 11.09s/it]  
 53%|█████▎    | 316/600 [1:05:43<37:36,  7.94s/it]
 53%|█████▎    | 317/600 [1:05:44<27:06,  5.75s/it]
 53%|█████▎    | 318/600 [1:05:44<19:45,  4.20s/it]
 53%|█████▎    | 319/600 [1:05:45<14:36,  3.12s/it]
 53%|█████▎    | 320/600 [1:05:45<11:01,  2.36s/it]
 54%|█████▎    | 321/600 [1:11:13<7:45:00, 100.00s/it]
 54%|█████▎    | 322/600 [1:11:14<5:25:15, 70.20s/it] 
 54%|█████▍    | 323/600 [1:11:14<3:47:42, 49.32s/it]
 54%|█████▍    | 324/600 [1:11:15<2:39:39, 34.71s/it]
 54%|█████▍    | 325/600 [1:11:16<1:52:12, 24.48s/it]
 54%|█████▍    | 326/600 [1:11:16<1:19:04, 17.31s/it]
 55%|█████▍    | 327/600 [1:11:17<56:02, 12.32s/it]  
 55%|█████▍    | 328/600 [1:11:18<39:56,  8.81s/it]
 55%|█████▍    | 329/600 [1:12:06<1:34:08, 20.84s/it]
 55%|█████▌    | 330/600 [1:12:07<1:06:30, 14.78s/it]
 55%|█████▌    | 331/600 [1:12:08<47:10, 10.52s/it]  
 55%|█████▌    | 332/600 [1:12:08<33:45,  7.56s/it]
 56%|█████▌    | 333/600 [1:12:09<24:20,  5.47s/it]
 56%|█████▌    | 334/600 [1:12:10<17:48,  4.02s/it]
 56%|█████▌    | 335/600 [1:12:10<13:16,  3.01s/it]
 56%|█████▌    | 336/600 [1:12:11<10:04,  2.29s/it]
 56%|█████▌    | 337/600 [1:14:30<3:09:26, 43.22s/it]
 56%|█████▋    | 338/600 [1:14:30<2:12:56, 30.44s/it]
 56%|█████▋    | 339/600 [1:14:31<1:33:29, 21.49s/it]
 57%|█████▋    | 340/600 [1:14:31<1:05:59, 15.23s/it]
 57%|█████▋    | 341/600 [1:14:32<46:48, 10.84s/it]  
 57%|█████▋    | 342/600 [1:14:33<33:30,  7.79s/it]
 57%|█████▋    | 343/600 [1:14:33<24:09,  5.64s/it]
 57%|█████▋    | 344/600 [1:14:34<17:36,  4.13s/it]
 57%|█████▊    | 345/600 [1:16:39<2:52:22, 40.56s/it]
 58%|█████▊    | 346/600 [1:16:40<2:00:58, 28.58s/it]
 58%|█████▊    | 347/600 [1:16:41<1:25:07, 20.19s/it]
 58%|█████▊    | 348/600 [1:16:41<1:00:07, 14.32s/it]
 58%|█████▊    | 349/600 [1:16:42<42:42, 10.21s/it]  
 58%|█████▊    | 350/600 [1:16:43<30:32,  7.33s/it]
 58%|█████▊    | 351/600 [1:16:43<22:03,  5.31s/it]
 59%|█████▊    | 352/600 [1:16:44<16:08,  3.90s/it]
 59%|█████▉    | 353/600 [1:19:43<3:52:02, 56.37s/it]
 59%|█████▉    | 354/600 [1:19:43<2:42:26, 39.62s/it]
 59%|█████▉    | 354/600 [1:19:44<55:24, 13.51s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_0_env0.json.
+MarkerInMugTask_0 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: True, episode_step: 355, duration: 23.666666666666668, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.399243690310373, 'joint_sparc_mean': -14.784536565032742, 'ee_isj': 5944.0353765190275, 'joint_isj': 833833.6718065182, 'ee_path_length': 3.6427316002575703, 'joint_rmse_mean': 1.452563812975041, 'ee_speed_max': 1.318648099899292, 'ee_speed_mean': 0.14161789417266846}, events: {'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 4579.069, 'policy_inference_avg_ms': 12898.8, 'env_step_s': 202.215, 'env_step_avg_ms': 569.6, 'video_write_s': 2.763, 'video_write_avg_ms': 7.8, 'wall_total_s': 4784.048, 'it_per_sec': 0.07}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: eb76dd4e708146bb982c9b0cac8049fb-0
+[RoboLab] Running MarkerInMugTask_1: 'Put the whiteboard marker in the mug' (run 1, 1 envs)
+
  0%|          | 0/600 [00:00<?, ?it/s]
  0%|          | 1/600 [01:04<10:39:47, 64.09s/it]
  0%|          | 2/600 [01:04<4:26:23, 26.73s/it] 
  0%|          | 3/600 [01:05<2:26:57, 14.77s/it]
  1%|          | 4/600 [01:05<1:30:56,  9.15s/it]
  1%|          | 5/600 [01:06<59:57,  6.05s/it]  
  1%|          | 6/600 [01:06<41:18,  4.17s/it]
  1%|          | 7/600 [01:07<29:36,  2.99s/it]
  1%|▏         | 8/600 [01:07<21:55,  2.22s/it]
  2%|▏         | 9/600 [01:37<1:46:28, 10.81s/it]
  2%|▏         | 10/600 [01:38<1:15:15,  7.65s/it]
  2%|▏         | 11/600 [01:38<53:51,  5.49s/it]  
  2%|▏         | 12/600 [01:39<39:06,  3.99s/it]
  2%|▏         | 13/600 [01:39<28:52,  2.95s/it]
  2%|▏         | 14/600 [01:40<21:51,  2.24s/it]
  2%|▎         | 15/600 [01:41<16:58,  1.74s/it]
  3%|▎         | 16/600 [01:41<13:28,  1.39s/it]
  3%|▎         | 17/600 [02:16<1:50:53, 11.41s/it]
  3%|▎         | 18/600 [02:16<1:19:05,  8.15s/it]
  3%|▎         | 19/600 [02:17<56:54,  5.88s/it]  
  3%|▎         | 20/600 [02:18<41:25,  4.28s/it]
  4%|▎         | 21/600 [02:18<30:34,  3.17s/it]
  4%|▎         | 22/600 [02:19<22:58,  2.38s/it]
  4%|▍         | 23/600 [02:19<17:48,  1.85s/it]
  4%|▍         | 24/600 [02:20<14:11,  1.48s/it]
  4%|▍         | 25/600 [02:31<41:22,  4.32s/it]
  4%|▍         | 26/600 [02:31<30:35,  3.20s/it]
  4%|▍         | 27/600 [02:32<22:56,  2.40s/it]
  5%|▍         | 28/600 [02:33<17:42,  1.86s/it]
  5%|▍         | 29/600 [02:33<13:59,  1.47s/it]
  5%|▌         | 30/600 [02:34<11:25,  1.20s/it]
  5%|▌         | 31/600 [02:34<09:37,  1.01s/it]
  5%|▌         | 32/600 [02:35<08:22,  1.13it/s]
  6%|▌         | 33/600 [02:59<1:12:42,  7.69s/it]
  6%|▌         | 34/600 [02:59<52:24,  5.56s/it]  
  6%|▌         | 35/600 [03:00<38:14,  4.06s/it]
  6%|▌         | 36/600 [03:00<28:20,  3.02s/it]
  6%|▌         | 37/600 [03:01<21:25,  2.28s/it]
  6%|▋         | 38/600 [03:01<16:36,  1.77s/it]
  6%|▋         | 39/600 [03:02<13:14,  1.42s/it]
  7%|▋         | 40/600 [03:03<10:51,  1.16s/it]
  7%|▋         | 41/600 [04:01<2:51:24, 18.40s/it]
  7%|▋         | 42/600 [04:02<2:01:22, 13.05s/it]
  7%|▋         | 43/600 [04:02<1:26:32,  9.32s/it]
  7%|▋         | 44/600 [04:03<1:02:03,  6.70s/it]
  8%|▊         | 45/600 [04:04<45:03,  4.87s/it]  
  8%|▊         | 46/600 [04:04<33:10,  3.59s/it]
  8%|▊         | 47/600 [04:05<24:50,  2.69s/it]
  8%|▊         | 48/600 [04:05<18:59,  2.06s/it]
  8%|▊         | 49/600 [04:54<2:27:58, 16.11s/it]
  8%|▊         | 50/600 [04:55<1:44:59, 11.45s/it]
  8%|▊         | 51/600 [04:55<1:14:55,  8.19s/it]
  9%|▊         | 52/600 [04:56<53:56,  5.91s/it]  
  9%|▉         | 53/600 [04:57<39:18,  4.31s/it]
  9%|▉         | 54/600 [04:57<29:00,  3.19s/it]
  9%|▉         | 55/600 [04:58<21:54,  2.41s/it]
  9%|▉         | 56/600 [04:58<16:53,  1.86s/it]
 10%|▉         | 57/600 [05:51<2:35:09, 17.15s/it]
 10%|▉         | 58/600 [05:52<1:49:56, 12.17s/it]
 10%|▉         | 59/600 [05:52<1:18:20,  8.69s/it]
 10%|█         | 60/600 [05:53<56:16,  6.25s/it]  
 10%|█         | 61/600 [05:53<40:51,  4.55s/it]
 10%|█         | 62/600 [05:54<30:04,  3.35s/it]
 10%|█         | 63/600 [05:55<22:33,  2.52s/it]
 11%|█         | 64/600 [05:55<17:18,  1.94s/it]
 11%|█         | 65/600 [08:02<5:51:01, 39.37s/it]
 11%|█         | 66/600 [08:02<4:06:52, 27.74s/it]
 11%|█         | 67/600 [08:03<2:53:59, 19.59s/it]
 11%|█▏        | 68/600 [08:04<2:03:05, 13.88s/it]
 12%|█▏        | 69/600 [08:04<1:27:32,  9.89s/it]
 12%|█▏        | 70/600 [08:05<1:02:44,  7.10s/it]
 12%|█▏        | 71/600 [08:05<45:24,  5.15s/it]  
 12%|█▏        | 72/600 [08:06<33:19,  3.79s/it]
 12%|█▏        | 73/600 [09:44<4:41:07, 32.01s/it]
 12%|█▏        | 74/600 [09:44<3:18:05, 22.60s/it]
 12%|█▎        | 75/600 [09:45<2:20:03, 16.01s/it]
 13%|█▎        | 76/600 [09:46<1:39:23, 11.38s/it]
 13%|█▎        | 77/600 [09:46<1:11:05,  8.16s/it]
 13%|█▎        | 78/600 [09:47<51:17,  5.90s/it]  
 13%|█▎        | 79/600 [09:47<37:28,  4.31s/it]
 13%|█▎        | 80/600 [09:48<27:48,  3.21s/it]
 14%|█▎        | 81/600 [10:18<1:37:42, 11.30s/it]
 14%|█▎        | 82/600 [10:19<1:09:49,  8.09s/it]
 14%|█▍        | 83/600 [10:20<50:28,  5.86s/it]  
 14%|█▍        | 84/600 [10:20<36:56,  4.29s/it]
 14%|█▍        | 85/600 [10:21<27:23,  3.19s/it]
 14%|█▍        | 86/600 [10:21<20:42,  2.42s/it]
 14%|█▍        | 87/600 [10:22<15:58,  1.87s/it]
 15%|█▍        | 88/600 [10:23<12:44,  1.49s/it]
 15%|█▍        | 89/600 [12:11<4:44:50, 33.45s/it]
 15%|█▌        | 90/600 [12:11<3:20:31, 23.59s/it]
 15%|█▌        | 91/600 [12:12<2:21:36, 16.69s/it]
 15%|█▌        | 92/600 [12:12<1:40:28, 11.87s/it]
 16%|█▌        | 93/600 [12:13<1:11:44,  8.49s/it]
 16%|█▌        | 94/600 [12:14<51:41,  6.13s/it]  
 16%|█▌        | 95/600 [12:14<37:41,  4.48s/it]
 16%|█▌        | 96/600 [12:15<27:53,  3.32s/it]
 16%|█▌        | 97/600 [12:40<1:21:59,  9.78s/it]
 16%|█▋        | 98/600 [12:40<58:43,  7.02s/it]  
 16%|█▋        | 99/600 [12:41<42:35,  5.10s/it]
 17%|█▋        | 100/600 [12:42<31:18,  3.76s/it]
 17%|█▋        | 101/600 [12:42<23:24,  2.82s/it]
 17%|█▋        | 102/600 [12:43<17:55,  2.16s/it]
 17%|█▋        | 103/600 [12:43<14:02,  1.70s/it]
 17%|█▋        | 104/600 [12:44<11:20,  1.37s/it]
 18%|█▊        | 105/600 [13:45<2:38:13, 19.18s/it]
 18%|█▊        | 106/600 [13:45<1:52:05, 13.61s/it]
 18%|█▊        | 107/600 [13:46<1:19:46,  9.71s/it]
 18%|█▊        | 108/600 [13:47<57:13,  6.98s/it]  
 18%|█▊        | 109/600 [13:47<41:27,  5.07s/it]
 18%|█▊        | 110/600 [13:48<30:26,  3.73s/it]
 18%|█▊        | 111/600 [13:48<22:42,  2.79s/it]
 19%|█▊        | 112/600 [13:49<17:16,  2.12s/it]
 19%|█▉        | 113/600 [14:29<1:50:17, 13.59s/it]
 19%|█▉        | 114/600 [14:30<1:18:30,  9.69s/it]
 19%|█▉        | 115/600 [14:31<56:20,  6.97s/it]  
 19%|█▉        | 116/600 [14:31<40:51,  5.06s/it]
 20%|█▉        | 117/600 [14:32<29:59,  3.73s/it]
 20%|█▉        | 118/600 [14:32<22:26,  2.79s/it]
 20%|█▉        | 119/600 [14:33<17:10,  2.14s/it]
 20%|██        | 120/600 [14:34<13:29,  1.69s/it]
 20%|██        | 121/600 [15:36<2:38:50, 19.90s/it]
 20%|██        | 122/600 [15:37<1:52:25, 14.11s/it]
 20%|██        | 123/600 [15:37<1:19:57, 10.06s/it]
 21%|██        | 124/600 [15:38<57:18,  7.22s/it]  
 21%|██        | 125/600 [15:38<41:33,  5.25s/it]
 21%|██        | 126/600 [15:39<30:25,  3.85s/it]
 21%|██        | 127/600 [15:40<22:40,  2.88s/it]
 21%|██▏       | 128/600 [15:40<17:14,  2.19s/it]
 22%|██▏       | 129/600 [17:08<3:39:42, 27.99s/it]
 22%|██▏       | 130/600 [17:09<2:34:54, 19.77s/it]
 22%|██▏       | 131/600 [17:10<1:49:39, 14.03s/it]
 22%|██▏       | 132/600 [17:10<1:18:00, 10.00s/it]
 22%|██▏       | 133/600 [17:11<55:57,  7.19s/it]  
 22%|██▏       | 134/600 [17:12<40:33,  5.22s/it]
 22%|██▎       | 135/600 [17:12<29:48,  3.85s/it]
 23%|██▎       | 136/600 [17:13<22:16,  2.88s/it]
 23%|██▎       | 137/600 [20:43<8:22:46, 65.16s/it]
 23%|██▎       | 138/600 [20:44<5:52:36, 45.79s/it]
 23%|██▎       | 139/600 [20:44<4:07:40, 32.23s/it]
 23%|██▎       | 140/600 [20:45<2:54:23, 22.75s/it]
 24%|██▎       | 141/600 [20:46<2:03:11, 16.10s/it]
 24%|██▎       | 142/600 [20:46<1:27:23, 11.45s/it]
 24%|██▍       | 143/600 [20:47<1:02:26,  8.20s/it]
 24%|██▍       | 144/600 [20:48<45:00,  5.92s/it]  
 24%|██▍       | 145/600 [21:15<1:34:18, 12.44s/it]
 24%|██▍       | 146/600 [21:16<1:07:13,  8.89s/it]
 24%|██▍       | 147/600 [21:16<48:18,  6.40s/it]  
 25%|██▍       | 148/600 [21:17<35:06,  4.66s/it]
 25%|██▍       | 149/600 [21:18<25:53,  3.44s/it]
 25%|██▌       | 150/600 [21:18<19:26,  2.59s/it]
 25%|██▌       | 151/600 [21:19<14:54,  1.99s/it]
 25%|██▌       | 152/600 [21:19<11:46,  1.58s/it]
 26%|██▌       | 153/600 [21:44<1:02:30,  8.39s/it]
 26%|██▌       | 154/600 [21:44<44:56,  6.05s/it]  
 26%|██▌       | 155/600 [21:45<32:39,  4.40s/it]
 26%|██▌       | 156/600 [21:45<24:03,  3.25s/it]
 26%|██▌       | 157/600 [21:46<18:04,  2.45s/it]
 26%|██▋       | 158/600 [21:47<13:53,  1.89s/it]
 26%|██▋       | 159/600 [21:47<11:00,  1.50s/it]
 27%|██▋       | 160/600 [21:48<08:57,  1.22s/it]
 27%|██▋       | 161/600 [24:01<4:59:28, 40.93s/it]
 27%|██▋       | 162/600 [24:02<3:30:22, 28.82s/it]
 27%|██▋       | 163/600 [24:02<2:28:09, 20.34s/it]
 27%|██▋       | 164/600 [24:03<1:44:43, 14.41s/it]
 28%|██▊       | 165/600 [24:04<1:14:23, 10.26s/it]
 28%|██▊       | 166/600 [24:04<53:11,  7.35s/it]  
 28%|██▊       | 167/600 [24:05<38:23,  5.32s/it]
 28%|██▊       | 168/600 [24:05<28:03,  3.90s/it]
 28%|██▊       | 169/600 [24:24<1:00:40,  8.45s/it]
 28%|██▊       | 170/600 [24:25<43:36,  6.08s/it]  
 28%|██▊       | 171/600 [24:25<31:40,  4.43s/it]
 29%|██▊       | 172/600 [24:26<23:23,  3.28s/it]
 29%|██▉       | 173/600 [24:27<17:34,  2.47s/it]
 29%|██▉       | 174/600 [24:27<13:30,  1.90s/it]
 29%|██▉       | 175/600 [24:28<10:38,  1.50s/it]
 29%|██▉       | 176/600 [24:28<08:37,  1.22s/it]
 30%|██▉       | 177/600 [25:12<1:38:59, 14.04s/it]
 30%|██▉       | 178/600 [25:13<1:10:18, 10.00s/it]
 30%|██▉       | 179/600 [25:13<50:20,  7.17s/it]  
 30%|███       | 180/600 [25:14<36:19,  5.19s/it]
 30%|███       | 181/600 [25:15<26:32,  3.80s/it]
 30%|███       | 182/600 [25:15<19:45,  2.84s/it]
 30%|███       | 183/600 [25:16<15:00,  2.16s/it]
 31%|███       | 184/600 [25:16<11:41,  1.69s/it]
 31%|███       | 185/600 [29:12<8:16:38, 71.80s/it]
 31%|███       | 186/600 [29:12<5:48:01, 50.44s/it]
 31%|███       | 187/600 [29:13<4:04:14, 35.48s/it]
 31%|███▏      | 188/600 [29:13<2:51:43, 25.01s/it]
 32%|███▏      | 189/600 [29:14<2:01:04, 17.68s/it]
 32%|███▏      | 190/600 [29:15<1:25:46, 12.55s/it]
 32%|███▏      | 191/600 [29:15<1:01:08,  8.97s/it]
 32%|███▏      | 192/600 [29:16<43:52,  6.45s/it]  
 32%|███▏      | 193/600 [29:48<1:36:32, 14.23s/it]
 32%|███▏      | 194/600 [29:49<1:08:32, 10.13s/it]
 32%|███▎      | 195/600 [29:49<49:01,  7.26s/it]  
 33%|███▎      | 196/600 [29:50<35:21,  5.25s/it]
 33%|███▎      | 197/600 [29:50<25:50,  3.85s/it]
 33%|███▎      | 198/600 [29:51<19:14,  2.87s/it]
 33%|███▎      | 199/600 [29:52<14:34,  2.18s/it]
 33%|███▎      | 200/600 [29:52<11:17,  1.69s/it]
 34%|███▎      | 201/600 [30:42<1:48:07, 16.26s/it]
 34%|███▎      | 202/600 [30:43<1:16:38, 11.55s/it]
 34%|███▍      | 203/600 [30:44<54:39,  8.26s/it]  
 34%|███▍      | 204/600 [30:44<39:17,  5.95s/it]
 34%|███▍      | 205/600 [30:45<28:33,  4.34s/it]
 34%|███▍      | 206/600 [30:45<21:05,  3.21s/it]
 34%|███▍      | 207/600 [30:46<15:52,  2.42s/it]
 35%|███▍      | 208/600 [30:46<12:14,  1.87s/it]
 35%|███▍      | 209/600 [31:11<55:44,  8.55s/it]
 35%|███▌      | 210/600 [31:11<40:03,  6.16s/it]
 35%|███▌      | 211/600 [31:12<29:02,  4.48s/it]
 35%|███▌      | 212/600 [31:12<21:20,  3.30s/it]
 36%|███▌      | 213/600 [31:13<16:01,  2.48s/it]
 36%|███▌      | 214/600 [31:13<12:17,  1.91s/it]
 36%|███▌      | 215/600 [31:14<09:46,  1.52s/it]
 36%|███▌      | 216/600 [31:15<08:02,  1.26s/it]
 36%|███▌      | 217/600 [31:46<1:05:29, 10.26s/it]
 36%|███▋      | 218/600 [31:47<46:50,  7.36s/it]  
 36%|███▋      | 219/600 [31:47<33:49,  5.33s/it]
 37%|███▋      | 220/600 [31:48<24:42,  3.90s/it]
 37%|███▋      | 221/600 [31:48<18:21,  2.91s/it]
 37%|███▋      | 222/600 [31:49<13:54,  2.21s/it]
 37%|███▋      | 223/600 [31:49<10:48,  1.72s/it]
 37%|███▋      | 224/600 [31:50<08:39,  1.38s/it]
 38%|███▊      | 225/600 [32:28<1:16:29, 12.24s/it]
 38%|███▊      | 226/600 [32:28<54:29,  8.74s/it]  
 38%|███▊      | 227/600 [32:29<39:09,  6.30s/it]
 38%|███▊      | 228/600 [32:29<28:26,  4.59s/it]
 38%|███▊      | 229/600 [32:30<20:58,  3.39s/it]
 38%|███▊      | 230/600 [32:31<15:44,  2.55s/it]
 38%|███▊      | 231/600 [32:31<12:04,  1.96s/it]
 39%|███▊      | 232/600 [32:32<09:29,  1.55s/it]
 39%|███▉      | 233/600 [33:09<1:15:35, 12.36s/it]
 39%|███▉      | 234/600 [33:10<53:50,  8.83s/it]  
 39%|███▉      | 235/600 [33:11<38:44,  6.37s/it]
 39%|███▉      | 236/600 [33:11<28:12,  4.65s/it]
 40%|███▉      | 237/600 [33:12<20:48,  3.44s/it]
 40%|███▉      | 238/600 [33:12<15:40,  2.60s/it]
 40%|███▉      | 239/600 [33:13<12:06,  2.01s/it]
 40%|████      | 240/600 [33:14<09:33,  1.59s/it]
 40%|████      | 241/600 [34:20<2:06:13, 21.10s/it]
 40%|████      | 242/600 [34:21<1:29:10, 14.95s/it]
 40%|████      | 243/600 [34:21<1:03:16, 10.63s/it]
 41%|████      | 244/600 [34:22<45:10,  7.61s/it]  
 41%|████      | 245/600 [34:23<32:33,  5.50s/it]
 41%|████      | 246/600 [34:23<23:46,  4.03s/it]
 41%|████      | 247/600 [34:24<17:38,  3.00s/it]
 41%|████▏     | 248/600 [34:24<13:18,  2.27s/it]
 42%|████▏     | 249/600 [35:02<1:14:36, 12.75s/it]
 42%|████▏     | 250/600 [35:02<53:11,  9.12s/it]  
 42%|████▏     | 251/600 [35:03<38:07,  6.55s/it]
 42%|████▏     | 252/600 [35:03<27:37,  4.76s/it]
 42%|████▏     | 253/600 [35:04<20:15,  3.50s/it]
 42%|████▏     | 254/600 [35:05<15:05,  2.62s/it]
 42%|████▎     | 255/600 [35:05<11:32,  2.01s/it]
 43%|████▎     | 256/600 [35:06<09:04,  1.58s/it]
 43%|████▎     | 257/600 [38:04<5:11:46, 54.54s/it]
 43%|████▎     | 258/600 [38:04<3:38:38, 38.36s/it]
 43%|████▎     | 259/600 [38:05<2:33:37, 27.03s/it]
 43%|████▎     | 260/600 [38:06<1:48:13, 19.10s/it]
 44%|████▎     | 261/600 [38:06<1:16:32, 13.55s/it]
 44%|████▎     | 262/600 [38:07<54:26,  9.66s/it]  
 44%|████▍     | 263/600 [38:07<39:00,  6.95s/it]
 44%|████▍     | 264/600 [38:08<28:13,  5.04s/it]
 44%|████▍     | 265/600 [39:13<2:08:38, 23.04s/it]
 44%|████▍     | 266/600 [39:14<1:30:47, 16.31s/it]
 44%|████▍     | 267/600 [39:14<1:04:20, 11.59s/it]
 45%|████▍     | 268/600 [39:15<45:53,  8.29s/it]  
 45%|████▍     | 269/600 [39:15<33:01,  5.99s/it]
 45%|████▌     | 270/600 [39:16<24:00,  4.37s/it]
 45%|████▌     | 271/600 [39:17<17:44,  3.24s/it]
 45%|████▌     | 272/600 [39:17<13:22,  2.45s/it]
 46%|████▌     | 273/600 [40:37<2:20:08, 25.71s/it]
 46%|████▌     | 274/600 [40:38<1:38:46, 18.18s/it]
 46%|████▌     | 275/600 [40:38<1:09:53, 12.90s/it]
 46%|████▌     | 276/600 [40:39<49:42,  9.21s/it]  
 46%|████▌     | 277/600 [40:40<35:39,  6.62s/it]
 46%|████▋     | 278/600 [40:40<25:50,  4.81s/it]
 46%|████▋     | 279/600 [40:41<18:59,  3.55s/it]
 47%|████▋     | 280/600 [40:41<14:10,  2.66s/it]
 47%|████▋     | 281/600 [41:27<1:21:55, 15.41s/it]
 47%|████▋     | 282/600 [41:27<58:06, 10.96s/it]  
 47%|████▋     | 283/600 [41:28<41:30,  7.86s/it]
 47%|████▋     | 284/600 [41:28<29:54,  5.68s/it]
 48%|████▊     | 285/600 [41:29<21:46,  4.15s/it]
 48%|████▊     | 286/600 [41:29<16:09,  3.09s/it]
 48%|████▊     | 287/600 [41:30<12:14,  2.35s/it]
 48%|████▊     | 288/600 [41:31<09:28,  1.82s/it]
 48%|████▊     | 289/600 [43:16<2:49:59, 32.80s/it]
 48%|████▊     | 290/600 [43:16<1:59:32, 23.14s/it]
 48%|████▊     | 291/600 [43:17<1:24:19, 16.37s/it]
 49%|████▊     | 292/600 [43:18<59:45, 11.64s/it]  
 49%|████▉     | 293/600 [43:18<42:35,  8.32s/it]
 49%|████▉     | 294/600 [43:19<30:37,  6.01s/it]
 49%|████▉     | 295/600 [43:19<22:17,  4.39s/it]
 49%|████▉     | 296/600 [43:20<16:25,  3.24s/it]
 50%|████▉     | 297/600 [47:46<6:53:53, 81.96s/it]
 50%|████▉     | 298/600 [47:46<4:49:40, 57.55s/it]
 50%|████▉     | 299/600 [47:47<3:23:01, 40.47s/it]
 50%|█████     | 300/600 [47:47<2:22:33, 28.51s/it]
 50%|█████     | 301/600 [47:48<1:40:20, 20.13s/it]
 50%|█████     | 302/600 [47:49<1:10:52, 14.27s/it]
 50%|█████     | 303/600 [47:49<50:20, 10.17s/it]  
 51%|█████     | 304/600 [47:50<36:02,  7.31s/it]
 51%|█████     | 305/600 [50:00<3:37:40, 44.27s/it]
 51%|█████     | 306/600 [50:01<2:32:46, 31.18s/it]
 51%|█████     | 307/600 [50:02<1:47:29, 22.01s/it]
 51%|█████▏    | 308/600 [50:02<1:15:52, 15.59s/it]
 52%|█████▏    | 309/600 [50:03<53:50, 11.10s/it]  
 52%|█████▏    | 310/600 [50:03<38:27,  7.96s/it]
 52%|█████▏    | 311/600 [50:04<27:42,  5.75s/it]
 52%|█████▏    | 312/600 [50:05<20:11,  4.21s/it]
 52%|█████▏    | 313/600 [54:27<6:30:12, 81.58s/it]
 52%|█████▏    | 314/600 [54:27<4:33:04, 57.29s/it]
 52%|█████▎    | 315/600 [54:28<3:11:20, 40.28s/it]
 53%|█████▎    | 316/600 [54:29<2:14:18, 28.37s/it]
 53%|█████▎    | 317/600 [54:29<1:34:32, 20.04s/it]
 53%|█████▎    | 318/600 [54:30<1:06:49, 14.22s/it]
 53%|█████▎    | 319/600 [54:30<47:27, 10.13s/it]  
 53%|█████▎    | 320/600 [54:31<33:57,  7.28s/it]
 54%|█████▎    | 321/600 [56:04<2:33:53, 33.09s/it]
 54%|█████▎    | 322/600 [56:05<1:48:10, 23.35s/it]
 54%|█████▍    | 323/600 [56:06<1:16:17, 16.52s/it]
 54%|█████▍    | 324/600 [56:06<54:01, 11.75s/it]  
 54%|█████▍    | 325/600 [56:07<38:30,  8.40s/it]
 54%|█████▍    | 326/600 [56:07<27:43,  6.07s/it]
 55%|█████▍    | 327/600 [56:08<20:09,  4.43s/it]
 55%|█████▍    | 328/600 [56:09<14:52,  3.28s/it]
 55%|█████▍    | 329/600 [59:01<4:03:47, 53.98s/it]
 55%|█████▌    | 330/600 [59:01<2:50:48, 37.96s/it]
 55%|█████▌    | 331/600 [59:02<1:59:52, 26.74s/it]
 55%|█████▌    | 332/600 [59:03<1:24:20, 18.88s/it]
 56%|█████▌    | 333/600 [59:03<59:34, 13.39s/it]  
 56%|█████▌    | 334/600 [59:04<42:18,  9.54s/it]
 56%|█████▌    | 335/600 [59:04<30:15,  6.85s/it]
 56%|█████▌    | 336/600 [59:05<21:51,  4.97s/it]
 56%|█████▌    | 337/600 [59:44<1:06:09, 15.09s/it]
 56%|█████▋    | 338/600 [59:44<46:53, 10.74s/it]  
 56%|█████▋    | 339/600 [59:45<33:28,  7.70s/it]
 57%|█████▋    | 340/600 [59:45<24:06,  5.56s/it]
 57%|█████▋    | 341/600 [59:46<17:33,  4.07s/it]
 57%|█████▋    | 342/600 [59:46<12:59,  3.02s/it]
 57%|█████▋    | 343/600 [59:47<09:47,  2.28s/it]
 57%|█████▋    | 344/600 [59:48<07:33,  1.77s/it]
 57%|█████▊    | 345/600 [1:00:33<1:03:44, 15.00s/it]
 58%|█████▊    | 346/600 [1:00:34<45:12, 10.68s/it]  
 58%|█████▊    | 347/600 [1:00:35<32:14,  7.65s/it]
 58%|█████▊    | 348/600 [1:00:35<23:13,  5.53s/it]
 58%|█████▊    | 349/600 [1:00:36<16:53,  4.04s/it]
 58%|█████▊    | 350/600 [1:00:36<12:30,  3.00s/it]
 58%|█████▊    | 351/600 [1:00:37<09:26,  2.28s/it]
 59%|█████▊    | 352/600 [1:00:37<07:18,  1.77s/it]
 59%|█████▉    | 353/600 [1:02:46<2:43:58, 39.83s/it]
 59%|█████▉    | 354/600 [1:02:47<1:55:01, 28.06s/it]
 59%|█████▉    | 355/600 [1:02:47<1:20:54, 19.82s/it]
 59%|█████▉    | 356/600 [1:02:48<57:06, 14.04s/it]  
 60%|█████▉    | 357/600 [1:02:48<40:29, 10.00s/it]
 60%|█████▉    | 358/600 [1:02:49<28:55,  7.17s/it]
 60%|█████▉    | 359/600 [1:02:50<20:51,  5.19s/it]
 60%|██████    | 360/600 [1:02:50<15:13,  3.81s/it]
 60%|██████    | 361/600 [1:04:07<1:42:57, 25.85s/it]
 60%|██████    | 362/600 [1:04:08<1:12:28, 18.27s/it]
 60%|██████    | 363/600 [1:04:09<51:11, 12.96s/it]  
 61%|██████    | 364/600 [1:04:09<36:20,  9.24s/it]
 61%|██████    | 365/600 [1:04:10<26:01,  6.65s/it]
 61%|██████    | 366/600 [1:04:10<18:49,  4.83s/it]
 61%|██████    | 367/600 [1:04:11<13:48,  3.55s/it]
 61%|██████▏   | 368/600 [1:04:12<10:18,  2.66s/it]
 62%|██████▏   | 369/600 [1:07:06<3:28:50, 54.24s/it]
 62%|██████▏   | 370/600 [1:07:07<2:26:12, 38.14s/it]
 62%|██████▏   | 371/600 [1:07:07<1:42:32, 26.87s/it]
 62%|██████▏   | 372/600 [1:07:08<1:12:08, 18.98s/it]
 62%|██████▏   | 373/600 [1:07:08<50:56, 13.46s/it]  
 62%|██████▏   | 374/600 [1:07:09<36:09,  9.60s/it]
 62%|██████▎   | 375/600 [1:07:10<25:52,  6.90s/it]
 63%|██████▎   | 376/600 [1:07:10<18:40,  5.00s/it]
 63%|██████▎   | 377/600 [1:08:27<1:38:30, 26.50s/it]
 63%|██████▎   | 378/600 [1:08:27<1:09:17, 18.73s/it]
 63%|██████▎   | 379/600 [1:08:28<48:54, 13.28s/it]  
 63%|██████▎   | 380/600 [1:08:29<34:42,  9.47s/it]
 64%|██████▎   | 381/600 [1:08:29<24:50,  6.81s/it]
 64%|██████▎   | 382/600 [1:08:30<17:57,  4.94s/it]
 64%|██████▍   | 383/600 [1:08:30<13:11,  3.65s/it]
 64%|██████▍   | 384/600 [1:08:31<09:52,  2.74s/it]
 64%|██████▍   | 385/600 [1:10:44<2:30:20, 41.95s/it]
 64%|██████▍   | 386/600 [1:10:45<1:45:24, 29.55s/it]
 64%|██████▍   | 387/600 [1:10:46<1:14:03, 20.86s/it]
 65%|██████▍   | 388/600 [1:10:46<52:13, 14.78s/it]  
 65%|██████▍   | 389/600 [1:10:47<37:00, 10.52s/it]
 65%|██████▌   | 390/600 [1:10:47<26:24,  7.54s/it]
 65%|██████▌   | 391/600 [1:10:48<19:01,  5.46s/it]
 65%|██████▌   | 392/600 [1:10:49<13:50,  3.99s/it]
 66%|██████▌   | 393/600 [1:10:50<10:52,  3.15s/it]
 66%|██████▌   | 394/600 [1:10:50<08:11,  2.39s/it]
 66%|██████▌   | 395/600 [1:10:51<06:19,  1.85s/it]
 66%|██████▌   | 396/600 [1:10:52<05:00,  1.47s/it]
 66%|██████▌   | 397/600 [1:10:52<04:05,  1.21s/it]
 66%|██████▋   | 398/600 [1:10:53<03:25,  1.02s/it]
 66%|██████▋   | 399/600 [1:10:53<02:59,  1.12it/s]
 67%|██████▋   | 400/600 [1:10:54<02:40,  1.25it/s]
 67%|██████▋   | 401/600 [1:10:55<03:05,  1.07it/s]
 67%|██████▋   | 402/600 [1:10:56<02:44,  1.20it/s]
 67%|██████▋   | 403/600 [1:10:56<02:30,  1.31it/s]
 67%|██████▋   | 404/600 [1:10:57<02:20,  1.40it/s]
 68%|██████▊   | 405/600 [1:10:58<02:13,  1.46it/s]
 68%|██████▊   | 406/600 [1:10:58<02:07,  1.52it/s]
 68%|██████▊   | 407/600 [1:10:59<02:03,  1.56it/s]
 68%|██████▊   | 408/600 [1:10:59<01:59,  1.61it/s]
 68%|██████▊   | 409/600 [1:11:00<02:21,  1.35it/s]
 68%|██████▊   | 410/600 [1:11:01<02:11,  1.45it/s]
 68%|██████▊   | 411/600 [1:11:02<02:04,  1.52it/s]
 69%|██████▊   | 412/600 [1:11:02<02:00,  1.57it/s]
 69%|██████▉   | 413/600 [1:11:03<01:55,  1.62it/s]
 69%|██████▉   | 414/600 [1:11:03<01:53,  1.64it/s]
 69%|██████▉   | 415/600 [1:11:04<01:52,  1.65it/s]
 69%|██████▉   | 416/600 [1:11:04<01:50,  1.66it/s]
 70%|██████▉   | 417/600 [1:11:06<02:19,  1.32it/s]
 70%|██████▉   | 418/600 [1:11:06<02:08,  1.42it/s]
 70%|██████▉   | 419/600 [1:11:07<01:59,  1.51it/s]
 70%|███████   | 420/600 [1:11:07<01:55,  1.56it/s]
 70%|███████   | 421/600 [1:11:08<01:51,  1.61it/s]
 70%|███████   | 422/600 [1:11:08<01:47,  1.65it/s]
 70%|███████   | 423/600 [1:11:09<01:45,  1.68it/s]
 71%|███████   | 424/600 [1:11:10<01:45,  1.66it/s]
 71%|███████   | 425/600 [1:11:11<02:16,  1.28it/s]
 71%|███████   | 426/600 [1:11:11<02:04,  1.39it/s]
 71%|███████   | 427/600 [1:11:12<01:56,  1.48it/s]
 71%|███████▏  | 428/600 [1:11:13<01:50,  1.56it/s]
 72%|███████▏  | 429/600 [1:11:13<01:46,  1.60it/s]
 72%|███████▏  | 430/600 [1:11:14<01:42,  1.65it/s]
 72%|███████▏  | 431/600 [1:11:14<01:41,  1.67it/s]
 72%|███████▏  | 432/600 [1:11:15<01:40,  1.68it/s]
 72%|███████▏  | 433/600 [1:13:58<2:17:19, 49.34s/it]
 72%|███████▏  | 434/600 [1:13:59<1:36:01, 34.71s/it]
 72%|███████▎  | 435/600 [1:13:59<1:07:17, 24.47s/it]
 73%|███████▎  | 436/600 [1:14:00<47:16, 17.29s/it]  
 73%|███████▎  | 437/600 [1:14:00<33:22, 12.29s/it]
 73%|███████▎  | 438/600 [1:14:01<23:43,  8.79s/it]
 73%|███████▎  | 439/600 [1:14:01<16:58,  6.33s/it]
 73%|███████▎  | 440/600 [1:14:02<12:16,  4.61s/it]
 74%|███████▎  | 441/600 [1:14:03<09:21,  3.53s/it]
 74%|███████▎  | 442/600 [1:14:04<06:57,  2.64s/it]
 74%|███████▍  | 443/600 [1:14:04<05:19,  2.03s/it]
 74%|███████▍  | 444/600 [1:14:05<04:09,  1.60s/it]
 74%|███████▍  | 445/600 [1:14:05<03:20,  1.30s/it]
 74%|███████▍  | 446/600 [1:14:06<02:46,  1.08s/it]
 74%|███████▍  | 447/600 [1:14:07<02:23,  1.07it/s]
 75%|███████▍  | 448/600 [1:14:07<02:07,  1.19it/s]
 75%|███████▍  | 449/600 [1:14:08<02:20,  1.07it/s]
 75%|███████▌  | 450/600 [1:14:09<02:04,  1.21it/s]
 75%|███████▌  | 451/600 [1:14:10<01:54,  1.31it/s]
 75%|███████▌  | 452/600 [1:14:10<01:45,  1.40it/s]
 76%|███████▌  | 453/600 [1:14:11<01:39,  1.48it/s]
 76%|███████▌  | 454/600 [1:14:11<01:34,  1.55it/s]
 76%|███████▌  | 455/600 [1:14:12<01:30,  1.61it/s]
 76%|███████▌  | 456/600 [1:14:13<01:29,  1.62it/s]
 76%|███████▌  | 457/600 [1:14:14<01:53,  1.26it/s]
 76%|███████▋  | 458/600 [1:14:14<01:45,  1.34it/s]
 76%|███████▋  | 459/600 [1:14:15<01:37,  1.45it/s]
 77%|███████▋  | 460/600 [1:14:16<01:32,  1.51it/s]
 77%|███████▋  | 461/600 [1:14:16<01:28,  1.57it/s]
 77%|███████▋  | 462/600 [1:14:17<01:27,  1.58it/s]
 77%|███████▋  | 463/600 [1:14:17<01:25,  1.61it/s]
 77%|███████▋  | 464/600 [1:14:18<01:24,  1.60it/s]
 78%|███████▊  | 465/600 [1:14:19<01:45,  1.28it/s]
 78%|███████▊  | 466/600 [1:14:20<01:37,  1.37it/s]
 78%|███████▊  | 467/600 [1:14:20<01:32,  1.44it/s]
 78%|███████▊  | 468/600 [1:14:21<01:27,  1.50it/s]
 78%|███████▊  | 469/600 [1:14:21<01:24,  1.56it/s]
 78%|███████▊  | 470/600 [1:14:22<01:22,  1.57it/s]
 78%|███████▊  | 471/600 [1:14:23<01:20,  1.61it/s]
 79%|███████▊  | 472/600 [1:14:23<01:19,  1.61it/s]
 79%|███████▉  | 473/600 [1:14:24<01:37,  1.31it/s]
 79%|███████▉  | 474/600 [1:14:25<01:30,  1.40it/s]
 79%|███████▉  | 475/600 [1:14:26<01:24,  1.49it/s]
 79%|███████▉  | 476/600 [1:14:26<01:20,  1.53it/s]
 80%|███████▉  | 477/600 [1:14:27<01:18,  1.57it/s]
 80%|███████▉  | 478/600 [1:14:27<01:15,  1.63it/s]
 80%|███████▉  | 479/600 [1:14:28<01:12,  1.66it/s]
 80%|████████  | 480/600 [1:14:28<01:10,  1.70it/s]
 80%|████████  | 481/600 [1:15:27<35:38, 17.97s/it]
 80%|████████  | 482/600 [1:15:28<25:04, 12.75s/it]
 80%|████████  | 483/600 [1:15:28<17:45,  9.11s/it]
 81%|████████  | 484/600 [1:15:29<12:40,  6.55s/it]
 81%|████████  | 485/600 [1:15:29<09:06,  4.75s/it]
 81%|████████  | 486/600 [1:15:30<06:38,  3.50s/it]
 81%|████████  | 487/600 [1:15:30<04:55,  2.62s/it]
 81%|████████▏ | 488/600 [1:15:31<03:45,  2.01s/it]
 82%|████████▏ | 489/600 [1:15:32<03:15,  1.77s/it]
 82%|████████▏ | 490/600 [1:15:33<02:34,  1.40s/it]
 82%|████████▏ | 491/600 [1:15:33<02:05,  1.15s/it]
 82%|████████▏ | 492/600 [1:15:34<01:46,  1.01it/s]
 82%|████████▏ | 493/600 [1:15:35<01:32,  1.15it/s]
 82%|████████▏ | 494/600 [1:15:35<01:24,  1.26it/s]
 82%|████████▎ | 495/600 [1:15:36<01:16,  1.36it/s]
 83%|████████▎ | 496/600 [1:15:36<01:12,  1.43it/s]
 83%|████████▎ | 497/600 [1:15:38<01:27,  1.18it/s]
 83%|████████▎ | 498/600 [1:15:38<01:18,  1.29it/s]
 83%|████████▎ | 499/600 [1:15:39<01:13,  1.38it/s]
 83%|████████▎ | 500/600 [1:15:40<01:22,  1.21it/s]
 84%|████████▎ | 501/600 [1:15:40<01:14,  1.32it/s]
 84%|████████▎ | 502/600 [1:15:41<01:09,  1.42it/s]
 84%|████████▍ | 503/600 [1:15:42<01:04,  1.50it/s]
 84%|████████▍ | 504/600 [1:15:42<01:01,  1.55it/s]
 84%|████████▍ | 505/600 [1:15:43<01:15,  1.26it/s]
 84%|████████▍ | 506/600 [1:15:44<01:09,  1.35it/s]
 84%|████████▍ | 507/600 [1:15:45<01:05,  1.43it/s]
 85%|████████▍ | 508/600 [1:15:45<01:01,  1.49it/s]
 85%|████████▍ | 509/600 [1:15:46<00:58,  1.55it/s]
 85%|████████▌ | 510/600 [1:15:46<00:56,  1.60it/s]
 85%|████████▌ | 511/600 [1:15:47<00:54,  1.63it/s]
 85%|████████▌ | 512/600 [1:15:48<00:52,  1.67it/s]
 86%|████████▌ | 513/600 [1:15:49<01:06,  1.31it/s]
 86%|████████▌ | 514/600 [1:15:49<01:00,  1.41it/s]
 86%|████████▌ | 515/600 [1:15:50<00:56,  1.50it/s]
 86%|████████▌ | 516/600 [1:15:50<00:53,  1.57it/s]
 86%|████████▌ | 517/600 [1:15:51<00:51,  1.61it/s]
 86%|████████▋ | 518/600 [1:15:52<00:49,  1.65it/s]
 86%|████████▋ | 519/600 [1:15:52<00:48,  1.68it/s]
 87%|████████▋ | 520/600 [1:15:53<00:47,  1.68it/s]
 87%|████████▋ | 521/600 [1:15:54<01:01,  1.28it/s]
 87%|████████▋ | 522/600 [1:15:54<00:56,  1.39it/s]
 87%|████████▋ | 523/600 [1:15:55<00:51,  1.48it/s]
 87%|████████▋ | 524/600 [1:15:56<00:49,  1.53it/s]
 88%|████████▊ | 525/600 [1:15:56<00:47,  1.57it/s]
 88%|████████▊ | 526/600 [1:15:57<00:45,  1.64it/s]
 88%|████████▊ | 527/600 [1:15:57<00:43,  1.69it/s]
 88%|████████▊ | 528/600 [1:15:58<00:42,  1.69it/s]
 88%|████████▊ | 529/600 [1:17:37<35:45, 30.22s/it]
 88%|████████▊ | 530/600 [1:17:38<24:53, 21.34s/it]
 88%|████████▊ | 531/600 [1:17:39<17:23, 15.12s/it]
 89%|████████▊ | 532/600 [1:17:39<12:11, 10.76s/it]
 89%|████████▉ | 533/600 [1:17:40<08:36,  7.71s/it]
 89%|████████▉ | 534/600 [1:17:40<06:08,  5.58s/it]
 89%|████████▉ | 535/600 [1:17:41<04:25,  4.09s/it]
 89%|████████▉ | 536/600 [1:17:42<03:14,  3.04s/it]
 90%|████████▉ | 537/600 [1:17:43<02:34,  2.45s/it]
 90%|████████▉ | 538/600 [1:17:43<01:56,  1.88s/it]
 90%|████████▉ | 539/600 [1:17:44<01:31,  1.50s/it]
 90%|█████████ | 540/600 [1:17:44<01:13,  1.22s/it]
 90%|█████████ | 541/600 [1:17:45<01:00,  1.03s/it]
 90%|█████████ | 542/600 [1:17:45<00:51,  1.12it/s]
 90%|█████████ | 543/600 [1:17:46<00:46,  1.23it/s]
 91%|█████████ | 544/600 [1:17:47<00:41,  1.35it/s]
 91%|█████████ | 545/600 [1:17:48<00:47,  1.16it/s]
 91%|█████████ | 546/600 [1:17:48<00:41,  1.29it/s]
 91%|█████████ | 547/600 [1:17:49<00:37,  1.40it/s]
 91%|█████████▏| 548/600 [1:17:50<00:35,  1.48it/s]
 92%|█████████▏| 549/600 [1:17:50<00:33,  1.54it/s]
 92%|█████████▏| 550/600 [1:17:51<00:31,  1.57it/s]
 92%|█████████▏| 551/600 [1:17:51<00:30,  1.60it/s]
 92%|█████████▏| 552/600 [1:17:52<00:29,  1.62it/s]
 92%|█████████▏| 553/600 [1:17:53<00:37,  1.25it/s]
 92%|█████████▏| 554/600 [1:17:54<00:33,  1.36it/s]
 92%|█████████▎| 555/600 [1:17:54<00:30,  1.46it/s]
 93%|█████████▎| 556/600 [1:17:55<00:28,  1.53it/s]
 93%|█████████▎| 557/600 [1:17:55<00:27,  1.57it/s]
 93%|█████████▎| 558/600 [1:17:56<00:26,  1.59it/s]
 93%|█████████▎| 559/600 [1:17:57<00:25,  1.61it/s]
 93%|█████████▎| 560/600 [1:17:57<00:24,  1.63it/s]
 94%|█████████▎| 561/600 [1:19:59<23:55, 36.82s/it]
 94%|█████████▎| 562/600 [1:19:59<16:26, 25.95s/it]
 94%|█████████▍| 563/600 [1:20:00<11:18, 18.34s/it]
 94%|█████████▍| 564/600 [1:20:00<07:48, 13.02s/it]
 94%|█████████▍| 565/600 [1:20:01<05:25,  9.29s/it]
 94%|█████████▍| 566/600 [1:20:02<03:47,  6.68s/it]
 94%|█████████▍| 567/600 [1:20:02<02:39,  4.84s/it]
 95%|█████████▍| 568/600 [1:20:03<01:54,  3.56s/it]
 95%|█████████▍| 569/600 [1:20:04<01:27,  2.82s/it]
 95%|█████████▌| 570/600 [1:20:04<01:04,  2.15s/it]
 95%|█████████▌| 571/600 [1:20:05<00:49,  1.69s/it]
 95%|█████████▌| 572/600 [1:20:06<00:37,  1.36s/it]
 96%|█████████▌| 573/600 [1:20:06<00:30,  1.12s/it]
 96%|█████████▌| 574/600 [1:20:07<00:24,  1.04it/s]
 96%|█████████▌| 575/600 [1:20:07<00:20,  1.19it/s]
 96%|█████████▌| 576/600 [1:20:08<00:18,  1.31it/s]
 96%|█████████▌| 577/600 [1:20:09<00:19,  1.16it/s]
 96%|█████████▋| 578/600 [1:20:10<00:17,  1.28it/s]
 96%|█████████▋| 579/600 [1:20:10<00:15,  1.40it/s]
 97%|█████████▋| 580/600 [1:20:11<00:13,  1.49it/s]
 97%|█████████▋| 581/600 [1:20:11<00:12,  1.54it/s]
 97%|█████████▋| 582/600 [1:20:12<00:11,  1.57it/s]
 97%|█████████▋| 583/600 [1:20:12<00:10,  1.60it/s]
 97%|█████████▋| 584/600 [1:20:13<00:09,  1.65it/s]
 98%|█████████▊| 585/600 [1:20:14<00:11,  1.26it/s]
 98%|█████████▊| 586/600 [1:20:15<00:10,  1.38it/s]
 98%|█████████▊| 587/600 [1:20:15<00:09,  1.44it/s]
 98%|█████████▊| 588/600 [1:20:16<00:08,  1.47it/s]
 98%|█████████▊| 589/600 [1:20:17<00:07,  1.54it/s]
 98%|█████████▊| 590/600 [1:20:17<00:06,  1.58it/s]
 98%|█████████▊| 591/600 [1:20:18<00:05,  1.58it/s]
 99%|█████████▊| 592/600 [1:20:19<00:05,  1.60it/s]
 99%|█████████▉| 593/600 [1:20:20<00:05,  1.30it/s]
 99%|█████████▉| 594/600 [1:20:20<00:04,  1.40it/s]
 99%|█████████▉| 595/600 [1:20:21<00:03,  1.48it/s]
 99%|█████████▉| 596/600 [1:20:21<00:02,  1.55it/s]
100%|█████████▉| 597/600 [1:20:22<00:01,  1.60it/s]
100%|█████████▉| 598/600 [1:20:23<00:01,  1.64it/s]
100%|█████████▉| 599/600 [1:20:23<00:00,  1.65it/s]
100%|█████████▉| 599/600 [1:20:24<00:08,  8.05s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_1_env0.json.
+MarkerInMugTask_1 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.073818739135467, 'joint_sparc_mean': -10.662652013976347, 'ee_isj': 26954.90242451239, 'joint_isj': 1794182.1914502133, 'ee_path_length': 5.664801499310981, 'joint_rmse_mean': 1.226399024088671, 'ee_speed_max': 1.9857299327850342, 'ee_speed_mean': 0.13686679303646088}, events: {'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 2, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['ceramic_mug']}, instruction_type: default, timing: {'policy_inference_s': 4485.854, 'policy_inference_avg_ms': 7476.4, 'env_step_s': 333.448, 'env_step_avg_ms': 555.7, 'video_write_s': 4.632, 'video_write_avg_ms': 7.7, 'wall_total_s': 4823.935, 'it_per_sec': 0.12}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: d705f54b19f240b19a81caeb5c2a073d-1
+[RoboLab] Running MarkerInMugTask_2: 'Put the whiteboard marker in the mug' (run 2, 1 envs)
+
  0%|          | 0/600 [00:00<?, ?it/s]
  0%|          | 1/600 [00:55<9:10:35, 55.15s/it]
  0%|          | 2/600 [00:55<3:49:43, 23.05s/it]
  0%|          | 3/600 [00:56<2:07:11, 12.78s/it]
  1%|          | 4/600 [00:56<1:19:05,  7.96s/it]
  1%|          | 5/600 [00:57<52:35,  5.30s/it]  
  1%|          | 6/600 [00:58<36:39,  3.70s/it]
  1%|          | 7/600 [00:58<26:27,  2.68s/it]
  1%|▏         | 8/600 [00:59<19:52,  2.01s/it]
  2%|▏         | 9/600 [01:18<1:12:30,  7.36s/it]
  2%|▏         | 10/600 [01:18<51:50,  5.27s/it] 
  2%|▏         | 11/600 [01:19<37:42,  3.84s/it]
  2%|▏         | 12/600 [01:20<27:58,  2.86s/it]
  2%|▏         | 13/600 [01:20<21:16,  2.17s/it]
  2%|▏         | 14/600 [01:21<16:34,  1.70s/it]
  2%|▎         | 15/600 [01:21<13:14,  1.36s/it]
  3%|▎         | 16/600 [01:22<10:53,  1.12s/it]
  3%|▎         | 17/600 [01:46<1:18:44,  8.10s/it]
  3%|▎         | 18/600 [01:47<56:43,  5.85s/it]  
  3%|▎         | 19/600 [01:47<41:16,  4.26s/it]
  3%|▎         | 20/600 [01:48<30:32,  3.16s/it]
  4%|▎         | 21/600 [01:49<23:00,  2.38s/it]
  4%|▎         | 22/600 [01:49<17:42,  1.84s/it]
  4%|▍         | 23/600 [01:50<13:58,  1.45s/it]
  4%|▍         | 24/600 [01:50<11:22,  1.18s/it]
  4%|▍         | 25/600 [02:00<35:04,  3.66s/it]
  4%|▍         | 26/600 [02:00<26:09,  2.73s/it]
  4%|▍         | 27/600 [02:01<19:58,  2.09s/it]
  5%|▍         | 28/600 [02:02<15:42,  1.65s/it]
  5%|▍         | 29/600 [02:02<12:38,  1.33s/it]
  5%|▌         | 30/600 [02:03<10:25,  1.10s/it]
  5%|▌         | 31/600 [02:03<08:58,  1.06it/s]
  5%|▌         | 32/600 [02:04<07:53,  1.20it/s]
  6%|▌         | 33/600 [02:30<1:19:51,  8.45s/it]
  6%|▌         | 34/600 [02:31<57:27,  6.09s/it]  
  6%|▌         | 35/600 [02:31<41:55,  4.45s/it]
  6%|▌         | 36/600 [02:32<30:58,  3.30s/it]
  6%|▌         | 37/600 [02:32<23:13,  2.47s/it]
  6%|▋         | 38/600 [02:33<17:50,  1.90s/it]
  6%|▋         | 39/600 [02:34<14:03,  1.50s/it]
  7%|▋         | 40/600 [02:34<11:30,  1.23s/it]
  7%|▋         | 41/600 [03:30<2:45:20, 17.75s/it]
  7%|▋         | 42/600 [03:31<1:57:12, 12.60s/it]
  7%|▋         | 43/600 [03:32<1:23:39,  9.01s/it]
  7%|▋         | 44/600 [03:32<1:00:02,  6.48s/it]
  8%|▊         | 45/600 [03:33<43:32,  4.71s/it]  
  8%|▊         | 46/600 [03:33<32:04,  3.47s/it]
  8%|▊         | 47/600 [03:34<23:57,  2.60s/it]
  8%|▊         | 48/600 [03:35<18:23,  2.00s/it]
  8%|▊         | 49/600 [04:04<1:34:34, 10.30s/it]
  8%|▊         | 50/600 [04:05<1:07:40,  7.38s/it]
  8%|▊         | 51/600 [04:05<48:58,  5.35s/it]  
  9%|▊         | 52/600 [04:06<35:52,  3.93s/it]
  9%|▉         | 53/600 [04:07<26:37,  2.92s/it]
  9%|▉         | 54/600 [04:07<20:21,  2.24s/it]
  9%|▉         | 55/600 [04:08<15:50,  1.74s/it]
  9%|▉         | 56/600 [04:08<12:41,  1.40s/it]
 10%|▉         | 57/600 [05:04<2:40:00, 17.68s/it]
 10%|▉         | 58/600 [05:05<1:53:23, 12.55s/it]
 10%|▉         | 59/600 [05:05<1:20:50,  8.97s/it]
 10%|█         | 60/600 [05:06<58:01,  6.45s/it]  
 10%|█         | 61/600 [05:06<42:05,  4.69s/it]
 10%|█         | 62/600 [05:07<30:56,  3.45s/it]
 10%|█         | 63/600 [05:08<23:10,  2.59s/it]
 11%|█         | 64/600 [05:08<17:43,  1.98s/it]
 11%|█         | 65/600 [05:58<2:26:59, 16.49s/it]
 11%|█         | 66/600 [05:59<1:44:15, 11.71s/it]
 11%|█         | 67/600 [06:00<1:14:22,  8.37s/it]
 11%|█▏        | 68/600 [06:00<53:29,  6.03s/it]  
 12%|█▏        | 69/600 [06:01<38:54,  4.40s/it]
 12%|█▏        | 70/600 [06:01<28:44,  3.25s/it]
 12%|█▏        | 71/600 [06:02<21:33,  2.45s/it]
 12%|█▏        | 72/600 [06:03<16:35,  1.88s/it]
 12%|█▏        | 73/600 [06:40<1:50:11, 12.55s/it]
 12%|█▏        | 74/600 [06:41<1:18:30,  8.96s/it]
 12%|█▎        | 75/600 [06:41<56:22,  6.44s/it]  
 13%|█▎        | 76/600 [06:42<40:55,  4.69s/it]
 13%|█▎        | 77/600 [06:42<30:05,  3.45s/it]
 13%|█▎        | 78/600 [06:43<22:26,  2.58s/it]
 13%|█▎        | 79/600 [06:43<17:10,  1.98s/it]
 13%|█▎        | 80/600 [06:44<13:29,  1.56s/it]
 14%|█▎        | 81/600 [07:37<2:26:17, 16.91s/it]
 14%|█▎        | 82/600 [07:37<1:43:43, 12.01s/it]
 14%|█▍        | 83/600 [07:38<1:14:02,  8.59s/it]
 14%|█▍        | 84/600 [07:38<53:18,  6.20s/it]  
 14%|█▍        | 85/600 [07:39<38:47,  4.52s/it]
 14%|█▍        | 86/600 [07:40<28:39,  3.35s/it]
 14%|█▍        | 87/600 [07:40<21:35,  2.52s/it]
 15%|█▍        | 88/600 [07:41<16:38,  1.95s/it]
 15%|█▍        | 89/600 [08:42<2:46:25, 19.54s/it]
 15%|█▌        | 90/600 [08:42<1:57:52, 13.87s/it]
 15%|█▌        | 91/600 [08:43<1:23:53,  9.89s/it]
 15%|█▌        | 92/600 [08:43<1:00:08,  7.10s/it]
 16%|█▌        | 93/600 [08:44<43:37,  5.16s/it]  
 16%|█▌        | 94/600 [08:45<32:02,  3.80s/it]
 16%|█▌        | 95/600 [08:45<23:58,  2.85s/it]
 16%|█▌        | 96/600 [08:46<18:12,  2.17s/it]
 16%|█▌        | 97/600 [10:18<4:03:41, 29.07s/it]
 16%|█▋        | 98/600 [10:18<2:51:40, 20.52s/it]
 16%|█▋        | 99/600 [10:19<2:01:25, 14.54s/it]
 17%|█▋        | 100/600 [10:19<1:26:15, 10.35s/it]
 17%|█▋        | 101/600 [10:20<1:01:52,  7.44s/it]
 17%|█▋        | 102/600 [10:21<44:46,  5.40s/it]  
 17%|█▋        | 103/600 [10:21<32:52,  3.97s/it]
 17%|█▋        | 104/600 [10:22<24:26,  2.96s/it]
 18%|█▊        | 105/600 [10:59<1:49:35, 13.28s/it]
 18%|█▊        | 106/600 [11:00<1:18:05,  9.49s/it]
 18%|█▊        | 107/600 [11:01<56:07,  6.83s/it]  
 18%|█▊        | 108/600 [11:01<40:45,  4.97s/it]
 18%|█▊        | 109/600 [11:02<29:58,  3.66s/it]
 18%|█▊        | 110/600 [11:02<22:25,  2.75s/it]
 18%|█▊        | 111/600 [11:03<17:12,  2.11s/it]
 19%|█▊        | 112/600 [11:04<13:34,  1.67s/it]
 19%|█▉        | 113/600 [11:47<1:54:41, 14.13s/it]
 19%|█▉        | 114/600 [11:48<1:21:47, 10.10s/it]
 19%|█▉        | 115/600 [11:48<58:37,  7.25s/it]  
 19%|█▉        | 116/600 [11:49<42:28,  5.26s/it]
 20%|█▉        | 117/600 [11:49<31:10,  3.87s/it]
 20%|█▉        | 118/600 [11:50<23:17,  2.90s/it]
 20%|█▉        | 119/600 [11:51<17:47,  2.22s/it]
 20%|██        | 120/600 [11:51<13:57,  1.74s/it]
 20%|██        | 121/600 [12:31<1:44:18, 13.07s/it]
 20%|██        | 122/600 [12:31<1:14:18,  9.33s/it]
 20%|██        | 123/600 [12:32<53:19,  6.71s/it]  
 21%|██        | 124/600 [12:33<38:44,  4.88s/it]
 21%|██        | 125/600 [12:33<28:28,  3.60s/it]
 21%|██        | 126/600 [12:34<21:24,  2.71s/it]
 21%|██        | 127/600 [12:34<16:27,  2.09s/it]
 21%|██▏       | 128/600 [12:35<12:56,  1.65s/it]
 22%|██▏       | 129/600 [13:37<2:34:06, 19.63s/it]
 22%|██▏       | 130/600 [13:37<1:49:10, 13.94s/it]
 22%|██▏       | 131/600 [13:38<1:17:43,  9.94s/it]
 22%|██▏       | 132/600 [13:39<55:43,  7.14s/it]  
 22%|██▏       | 133/600 [13:39<40:22,  5.19s/it]
 22%|██▏       | 134/600 [13:40<29:40,  3.82s/it]
 22%|██▎       | 135/600 [13:40<22:11,  2.86s/it]
 23%|██▎       | 136/600 [13:41<16:52,  2.18s/it]
 23%|██▎       | 137/600 [15:38<4:42:37, 36.62s/it]
 23%|██▎       | 138/600 [15:39<3:18:58, 25.84s/it]
 23%|██▎       | 139/600 [15:39<2:20:23, 18.27s/it]
 23%|██▎       | 140/600 [15:40<1:39:26, 12.97s/it]
 24%|██▎       | 141/600 [15:41<1:10:55,  9.27s/it]
 24%|██▎       | 142/600 [15:41<50:58,  6.68s/it]  
 24%|██▍       | 143/600 [15:42<36:58,  4.85s/it]
 24%|██▍       | 144/600 [15:42<27:09,  3.57s/it]
 24%|██▍       | 145/600 [17:41<4:49:27, 38.17s/it]
 24%|██▍       | 146/600 [17:42<3:23:31, 26.90s/it]
 24%|██▍       | 147/600 [17:42<2:23:28, 19.00s/it]
 25%|██▍       | 148/600 [17:43<1:41:36, 13.49s/it]
 25%|██▍       | 149/600 [17:44<1:12:26,  9.64s/it]
 25%|██▌       | 150/600 [17:44<51:59,  6.93s/it]  
 25%|██▌       | 151/600 [17:45<37:43,  5.04s/it]
 25%|██▌       | 152/600 [17:46<27:39,  3.70s/it]
 26%|██▌       | 153/600 [18:22<1:40:27, 13.48s/it]
 26%|██▌       | 154/600 [18:22<1:11:29,  9.62s/it]
 26%|██▌       | 155/600 [18:23<51:18,  6.92s/it]  
 26%|██▌       | 156/600 [18:24<37:15,  5.03s/it]
 26%|██▌       | 157/600 [18:24<27:25,  3.71s/it]
 26%|██▋       | 158/600 [18:25<20:35,  2.80s/it]
 26%|██▋       | 159/600 [18:26<15:50,  2.16s/it]
 27%|██▋       | 160/600 [18:26<12:23,  1.69s/it]
 27%|██▋       | 161/600 [19:06<1:35:54, 13.11s/it]
 27%|██▋       | 162/600 [19:07<1:08:22,  9.37s/it]
 27%|██▋       | 163/600 [19:07<49:04,  6.74s/it]  
 27%|██▋       | 164/600 [19:08<35:37,  4.90s/it]
 28%|██▊       | 165/600 [19:08<26:11,  3.61s/it]
 28%|██▊       | 166/600 [19:09<19:38,  2.72s/it]
 28%|██▊       | 167/600 [19:10<15:05,  2.09s/it]
 28%|██▊       | 168/600 [19:10<12:01,  1.67s/it]
 28%|██▊       | 169/600 [20:43<3:27:16, 28.85s/it]
 28%|██▊       | 170/600 [20:43<2:26:05, 20.39s/it]
 28%|██▊       | 171/600 [20:44<1:43:19, 14.45s/it]
 29%|██▊       | 172/600 [20:45<1:13:28, 10.30s/it]
 29%|██▉       | 173/600 [20:45<52:37,  7.39s/it]  
 29%|██▉       | 174/600 [20:46<38:03,  5.36s/it]
 29%|██▉       | 175/600 [20:46<27:50,  3.93s/it]
 29%|██▉       | 176/600 [20:47<20:45,  2.94s/it]
 30%|██▉       | 177/600 [21:51<2:30:00, 21.28s/it]
 30%|██▉       | 178/600 [21:52<1:46:02, 15.08s/it]
 30%|██▉       | 179/600 [21:52<1:15:17, 10.73s/it]
 30%|███       | 180/600 [21:53<53:48,  7.69s/it]  
 30%|███       | 181/600 [21:53<38:51,  5.56s/it]
 30%|███       | 182/600 [21:54<28:24,  4.08s/it]
 30%|███       | 183/600 [21:55<21:06,  3.04s/it]
 31%|███       | 184/600 [21:55<15:58,  2.30s/it]
 31%|███       | 185/600 [22:24<1:09:58, 10.12s/it]
 31%|███       | 186/600 [22:24<50:07,  7.26s/it]  
 31%|███       | 187/600 [22:25<36:14,  5.26s/it]
 31%|███▏      | 188/600 [22:25<26:32,  3.87s/it]
 32%|███▏      | 189/600 [22:26<19:46,  2.89s/it]
 32%|███▏      | 190/600 [22:27<15:02,  2.20s/it]
 32%|███▏      | 191/600 [22:27<11:44,  1.72s/it]
 32%|███▏      | 192/600 [22:28<09:27,  1.39s/it]
 32%|███▏      | 193/600 [22:50<50:52,  7.50s/it]
 32%|███▏      | 194/600 [22:50<36:39,  5.42s/it]
 32%|███▎      | 195/600 [22:51<26:45,  3.96s/it]
 33%|███▎      | 196/600 [22:51<19:49,  2.95s/it]
 33%|███▎      | 197/600 [22:52<14:57,  2.23s/it]
 33%|███▎      | 198/600 [22:52<11:34,  1.73s/it]
 33%|███▎      | 199/600 [22:53<09:10,  1.37s/it]
 33%|███▎      | 200/600 [22:54<07:33,  1.13s/it]
 34%|███▎      | 201/600 [25:12<4:41:43, 42.36s/it]
 34%|███▎      | 202/600 [25:13<3:17:51, 29.83s/it]
 34%|███▍      | 203/600 [25:13<2:19:16, 21.05s/it]
 34%|███▍      | 204/600 [25:14<1:38:22, 14.91s/it]
 34%|███▍      | 205/600 [25:14<1:09:48, 10.60s/it]
 34%|███▍      | 206/600 [25:15<49:51,  7.59s/it]  
 34%|███▍      | 207/600 [25:16<35:56,  5.49s/it]
 35%|███▍      | 208/600 [25:16<26:13,  4.01s/it]
 35%|███▍      | 209/600 [25:46<1:16:23, 11.72s/it]
 35%|███▌      | 210/600 [25:46<54:27,  8.38s/it]  
 35%|███▌      | 211/600 [25:47<39:07,  6.04s/it]
 35%|███▌      | 212/600 [25:48<28:26,  4.40s/it]
 36%|███▌      | 213/600 [25:48<20:57,  3.25s/it]
 36%|███▌      | 214/600 [25:49<15:43,  2.44s/it]
 36%|███▌      | 215/600 [25:49<12:04,  1.88s/it]
 36%|███▌      | 216/600 [25:50<09:31,  1.49s/it]
 36%|███▌      | 217/600 [26:20<1:04:29, 10.10s/it]
 36%|███▋      | 218/600 [26:21<46:07,  7.24s/it]  
 36%|███▋      | 219/600 [26:21<33:17,  5.24s/it]
 37%|███▋      | 220/600 [26:22<24:18,  3.84s/it]
 37%|███▋      | 221/600 [26:22<18:01,  2.85s/it]
 37%|███▋      | 222/600 [26:23<13:40,  2.17s/it]
 37%|███▋      | 223/600 [26:23<10:35,  1.69s/it]
 37%|███▋      | 224/600 [26:24<08:28,  1.35s/it]
 38%|███▊      | 225/600 [26:56<1:06:14, 10.60s/it]
 38%|███▊      | 226/600 [26:57<47:17,  7.59s/it]  
 38%|███▊      | 227/600 [26:57<34:05,  5.48s/it]
 38%|███▊      | 228/600 [26:58<24:52,  4.01s/it]
 38%|███▊      | 229/600 [26:58<18:25,  2.98s/it]
 38%|███▊      | 230/600 [26:59<13:54,  2.26s/it]
 38%|███▊      | 231/600 [27:00<10:46,  1.75s/it]
 39%|███▊      | 232/600 [27:00<08:35,  1.40s/it]
 39%|███▉      | 233/600 [27:22<46:36,  7.62s/it]
 39%|███▉      | 234/600 [27:23<33:35,  5.51s/it]
 39%|███▉      | 235/600 [27:23<24:30,  4.03s/it]
 39%|███▉      | 236/600 [27:24<18:09,  2.99s/it]
 40%|███▉      | 237/600 [27:25<13:41,  2.26s/it]
 40%|███▉      | 238/600 [27:25<10:37,  1.76s/it]
 40%|███▉      | 239/600 [27:26<08:28,  1.41s/it]
 40%|████      | 240/600 [27:26<06:57,  1.16s/it]
 40%|████      | 241/600 [28:05<1:13:55, 12.36s/it]
 40%|████      | 242/600 [28:05<52:39,  8.83s/it]  
 40%|████      | 243/600 [28:06<37:53,  6.37s/it]
 41%|████      | 244/600 [28:07<27:31,  4.64s/it]
 41%|████      | 245/600 [28:07<20:19,  3.43s/it]
 41%|████      | 246/600 [28:08<15:16,  2.59s/it]
 41%|████      | 247/600 [28:08<11:42,  1.99s/it]
 41%|████▏     | 248/600 [28:09<09:18,  1.59s/it]
 42%|████▏     | 249/600 [28:33<47:44,  8.16s/it]
 42%|████▏     | 250/600 [28:33<34:24,  5.90s/it]
 42%|████▏     | 251/600 [28:34<25:03,  4.31s/it]
 42%|████▏     | 252/600 [28:34<18:31,  3.19s/it]
 42%|████▏     | 253/600 [28:35<14:00,  2.42s/it]
 42%|████▏     | 254/600 [28:36<10:49,  1.88s/it]
 42%|████▎     | 255/600 [28:36<08:38,  1.50s/it]
 43%|████▎     | 256/600 [28:37<07:06,  1.24s/it]
 43%|████▎     | 257/600 [29:53<2:15:36, 23.72s/it]
 43%|████▎     | 258/600 [29:54<1:35:42, 16.79s/it]
 43%|████▎     | 259/600 [29:54<1:07:51, 11.94s/it]
 43%|████▎     | 260/600 [29:55<48:27,  8.55s/it]  
 44%|████▎     | 261/600 [29:56<34:53,  6.17s/it]
 44%|████▎     | 262/600 [29:56<25:23,  4.51s/it]
 44%|████▍     | 263/600 [29:57<18:49,  3.35s/it]
 44%|████▍     | 264/600 [29:58<14:13,  2.54s/it]
 44%|████▍     | 265/600 [30:34<1:10:54, 12.70s/it]
 44%|████▍     | 266/600 [30:35<50:35,  9.09s/it]  
 44%|████▍     | 267/600 [30:35<36:16,  6.54s/it]
 45%|████▍     | 268/600 [30:36<26:20,  4.76s/it]
 45%|████▍     | 269/600 [30:36<19:21,  3.51s/it]
 45%|████▌     | 270/600 [30:37<14:30,  2.64s/it]
 45%|████▌     | 271/600 [30:38<11:08,  2.03s/it]
 45%|████▌     | 272/600 [30:38<08:46,  1.61s/it]
 46%|████▌     | 273/600 [31:43<1:52:27, 20.64s/it]
 46%|████▌     | 274/600 [31:44<1:19:31, 14.64s/it]
 46%|████▌     | 275/600 [31:45<56:28, 10.43s/it]  
 46%|████▌     | 276/600 [31:45<40:23,  7.48s/it]
 46%|████▌     | 277/600 [31:46<29:08,  5.41s/it]
 46%|████▋     | 278/600 [31:46<21:22,  3.98s/it]
 46%|████▋     | 279/600 [31:47<15:54,  2.97s/it]
 47%|████▋     | 280/600 [31:48<12:05,  2.27s/it]
 47%|████▋     | 281/600 [32:24<1:05:53, 12.39s/it]
 47%|████▋     | 282/600 [32:24<46:57,  8.86s/it]  
 47%|████▋     | 283/600 [32:25<33:45,  6.39s/it]
 47%|████▋     | 284/600 [32:25<24:32,  4.66s/it]
 48%|████▊     | 285/600 [32:26<18:06,  3.45s/it]
 48%|████▊     | 286/600 [32:27<13:37,  2.60s/it]
 48%|████▊     | 287/600 [32:27<10:29,  2.01s/it]
 48%|████▊     | 288/600 [32:28<08:14,  1.59s/it]
 48%|████▊     | 289/600 [34:41<3:33:20, 41.16s/it]
 48%|████▊     | 290/600 [34:42<2:29:46, 28.99s/it]
 48%|████▊     | 291/600 [34:43<1:45:28, 20.48s/it]
 49%|████▊     | 292/600 [34:43<1:14:34, 14.53s/it]
 49%|████▉     | 293/600 [34:44<52:56, 10.35s/it]  
 49%|████▉     | 294/600 [34:45<37:57,  7.44s/it]
 49%|████▉     | 295/600 [34:45<27:25,  5.40s/it]
 49%|████▉     | 296/600 [34:46<20:06,  3.97s/it]
 50%|████▉     | 297/600 [35:42<1:38:52, 19.58s/it]
 50%|████▉     | 298/600 [35:42<1:09:51, 13.88s/it]
 50%|████▉     | 299/600 [35:43<49:40,  9.90s/it]  
 50%|█████     | 300/600 [35:44<35:34,  7.11s/it]
 50%|█████     | 301/600 [35:44<25:43,  5.16s/it]
 50%|█████     | 302/600 [35:45<18:51,  3.80s/it]
 50%|█████     | 303/600 [35:45<14:03,  2.84s/it]
 51%|█████     | 304/600 [35:46<10:41,  2.17s/it]
 51%|█████     | 305/600 [37:05<2:03:24, 25.10s/it]
 51%|█████     | 306/600 [37:05<1:27:00, 17.76s/it]
 51%|█████     | 307/600 [37:06<1:01:32, 12.60s/it]
 51%|█████▏    | 308/600 [37:06<43:50,  9.01s/it]  
 52%|█████▏    | 309/600 [37:07<31:27,  6.49s/it]
 52%|█████▏    | 310/600 [37:08<22:50,  4.73s/it]
 52%|█████▏    | 311/600 [37:08<16:49,  3.49s/it]
 52%|█████▏    | 312/600 [37:09<12:35,  2.62s/it]
 52%|█████▏    | 313/600 [38:20<1:51:03, 23.22s/it]
 52%|█████▏    | 314/600 [38:21<1:18:20, 16.44s/it]
 52%|█████▎    | 315/600 [38:21<55:31, 11.69s/it]  
 53%|█████▎    | 316/600 [38:22<39:33,  8.36s/it]
 53%|█████▎    | 317/600 [38:23<28:29,  6.04s/it]
 53%|█████▎    | 318/600 [38:23<20:42,  4.41s/it]
 53%|█████▎    | 319/600 [38:24<15:17,  3.27s/it]
 53%|█████▎    | 320/600 [38:24<11:31,  2.47s/it]
 54%|█████▎    | 321/600 [40:01<2:22:30, 30.65s/it]
 54%|█████▎    | 322/600 [40:01<1:40:17, 21.65s/it]
 54%|█████▍    | 323/600 [40:02<1:10:46, 15.33s/it]
 54%|█████▍    | 324/600 [40:03<50:13, 10.92s/it]  
 54%|█████▍    | 325/600 [40:03<35:53,  7.83s/it]
 54%|█████▍    | 326/600 [40:04<25:51,  5.66s/it]
 55%|█████▍    | 327/600 [40:05<18:55,  4.16s/it]
 55%|█████▍    | 328/600 [40:05<14:03,  3.10s/it]
 55%|█████▍    | 329/600 [43:10<4:20:07, 57.59s/it]
 55%|█████▌    | 330/600 [43:11<3:02:15, 40.50s/it]
 55%|█████▌    | 331/600 [43:11<2:07:55, 28.53s/it]
 55%|█████▌    | 332/600 [43:12<1:30:00, 20.15s/it]
 56%|█████▌    | 333/600 [43:12<1:03:33, 14.28s/it]
 56%|█████▌    | 334/600 [43:13<45:07, 10.18s/it]  
 56%|█████▌    | 335/600 [43:14<32:16,  7.31s/it]
 56%|█████▌    | 336/600 [43:14<23:19,  5.30s/it]
 56%|█████▌    | 337/600 [45:10<2:48:57, 38.55s/it]
 56%|█████▋    | 338/600 [45:11<1:58:39, 27.17s/it]
 56%|█████▋    | 339/600 [45:12<1:23:31, 19.20s/it]
 57%|█████▋    | 340/600 [45:12<59:01, 13.62s/it]  
 57%|█████▋    | 341/600 [45:13<41:57,  9.72s/it]
 57%|█████▋    | 342/600 [45:13<30:04,  6.99s/it]
 57%|█████▋    | 343/600 [45:14<21:46,  5.08s/it]
 57%|█████▋    | 344/600 [45:15<15:58,  3.74s/it]
 57%|█████▊    | 345/600 [46:59<2:24:18, 33.96s/it]
 58%|█████▊    | 346/600 [47:00<1:41:26, 23.96s/it]
 58%|█████▊    | 347/600 [47:00<1:11:32, 16.97s/it]
 58%|█████▊    | 348/600 [47:01<50:39, 12.06s/it]  
 58%|█████▊    | 349/600 [47:02<36:07,  8.63s/it]
 58%|█████▊    | 350/600 [47:02<25:59,  6.24s/it]
 58%|█████▊    | 351/600 [47:03<18:53,  4.55s/it]
 59%|█████▊    | 352/600 [47:04<13:55,  3.37s/it]
 59%|█████▉    | 353/600 [47:41<55:35, 13.51s/it]
 59%|█████▉    | 354/600 [47:41<39:29,  9.63s/it]
 59%|█████▉    | 355/600 [47:42<28:14,  6.92s/it]
 59%|█████▉    | 356/600 [47:42<20:25,  5.02s/it]
 60%|█████▉    | 357/600 [47:43<14:58,  3.70s/it]
 60%|█████▉    | 358/600 [47:44<11:09,  2.77s/it]
 60%|█████▉    | 359/600 [47:44<08:29,  2.12s/it]
 60%|██████    | 360/600 [47:45<06:37,  1.66s/it]
 60%|██████    | 361/600 [49:18<1:55:23, 28.97s/it]
 60%|██████    | 362/600 [49:18<1:21:09, 20.46s/it]
 60%|██████    | 363/600 [49:19<57:20, 14.52s/it]  
 61%|██████    | 364/600 [49:19<40:41, 10.35s/it]
 61%|██████    | 365/600 [49:20<29:07,  7.44s/it]
 61%|██████    | 366/600 [49:21<21:01,  5.39s/it]
 61%|██████    | 367/600 [49:21<15:22,  3.96s/it]
 61%|██████▏   | 368/600 [49:22<11:24,  2.95s/it]
 62%|██████▏   | 369/600 [50:05<58:09, 15.11s/it]
 62%|██████▏   | 370/600 [50:06<41:13, 10.76s/it]
 62%|██████▏   | 371/600 [50:07<29:25,  7.71s/it]
 62%|██████▏   | 372/600 [50:07<21:11,  5.58s/it]
 62%|██████▏   | 373/600 [50:08<15:28,  4.09s/it]
 62%|██████▏   | 374/600 [50:08<11:29,  3.05s/it]
 62%|██████▎   | 375/600 [50:09<08:43,  2.33s/it]
 63%|██████▎   | 376/600 [50:10<06:46,  1.82s/it]
 63%|██████▎   | 377/600 [51:58<2:06:02, 33.91s/it]
 63%|██████▎   | 378/600 [51:59<1:28:32, 23.93s/it]
 63%|██████▎   | 379/600 [52:00<1:02:22, 16.94s/it]
 63%|██████▎   | 380/600 [52:00<44:12, 12.06s/it]  
 64%|██████▎   | 381/600 [52:01<31:32,  8.64s/it]
 64%|██████▎   | 382/600 [52:02<22:39,  6.23s/it]
 64%|██████▍   | 383/600 [52:02<16:26,  4.54s/it]
 64%|██████▍   | 384/600 [52:03<12:09,  3.38s/it]
 64%|██████▍   | 385/600 [56:43<5:09:27, 86.36s/it]
 64%|██████▍   | 386/600 [56:44<3:36:20, 60.65s/it]
 64%|██████▍   | 387/600 [56:44<2:31:22, 42.64s/it]
 65%|██████▍   | 388/600 [56:45<1:46:06, 30.03s/it]
 65%|██████▍   | 389/600 [56:45<1:14:33, 21.20s/it]
 65%|██████▌   | 390/600 [56:46<52:34, 15.02s/it]  
 65%|██████▌   | 391/600 [56:47<37:15, 10.70s/it]
 65%|██████▌   | 392/600 [56:47<26:36,  7.68s/it]
 66%|██████▌   | 393/600 [57:27<59:21, 17.21s/it]
 66%|██████▌   | 394/600 [57:27<41:58, 12.23s/it]
 66%|██████▌   | 395/600 [57:28<29:52,  8.74s/it]
 66%|██████▌   | 396/600 [57:29<21:26,  6.31s/it]
 66%|██████▌   | 397/600 [57:29<15:34,  4.60s/it]
 66%|██████▋   | 398/600 [57:30<11:28,  3.41s/it]
 66%|██████▋   | 399/600 [57:30<08:38,  2.58s/it]
 67%|██████▋   | 400/600 [57:31<06:39,  2.00s/it]
 67%|██████▋   | 401/600 [58:18<51:14, 15.45s/it]
 67%|██████▋   | 402/600 [58:19<36:17, 11.00s/it]
 67%|██████▋   | 403/600 [58:19<25:52,  7.88s/it]
 67%|██████▋   | 404/600 [58:20<18:35,  5.69s/it]
 68%|██████▊   | 405/600 [58:20<13:33,  4.17s/it]
 68%|██████▊   | 406/600 [58:21<10:01,  3.10s/it]
 68%|██████▊   | 407/600 [58:22<07:33,  2.35s/it]
 68%|██████▊   | 408/600 [58:22<05:50,  1.82s/it]
 68%|██████▊   | 409/600 [1:02:25<3:56:23, 74.26s/it]
 68%|██████▊   | 410/600 [1:02:26<2:45:10, 52.16s/it]
 68%|██████▊   | 411/600 [1:02:27<1:55:36, 36.70s/it]
 69%|██████▊   | 412/600 [1:02:27<1:21:04, 25.87s/it]
 69%|██████▉   | 413/600 [1:02:28<57:02, 18.30s/it]  
 69%|██████▉   | 414/600 [1:02:29<40:18, 13.00s/it]
 69%|██████▉   | 415/600 [1:02:29<28:38,  9.29s/it]
 69%|██████▉   | 416/600 [1:02:30<20:31,  6.69s/it]
 70%|██████▉   | 417/600 [1:03:50<1:28:04, 28.87s/it]
 70%|██████▉   | 418/600 [1:03:51<1:01:52, 20.40s/it]
 70%|██████▉   | 419/600 [1:03:52<43:37, 14.46s/it]  
 70%|███████   | 420/600 [1:03:52<30:54, 10.30s/it]
 70%|███████   | 421/600 [1:03:53<22:04,  7.40s/it]
 70%|███████   | 422/600 [1:03:53<15:54,  5.36s/it]
 70%|███████   | 423/600 [1:03:54<11:38,  3.94s/it]
 71%|███████   | 424/600 [1:03:55<08:38,  2.94s/it]
 71%|███████   | 424/600 [1:04:36<26:49,  9.14s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_2_env0.json.
+MarkerInMugTask_2 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: True, episode_step: 425, duration: 28.333333333333332, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.413074622485665, 'joint_sparc_mean': -14.19203830196922, 'ee_isj': 7309.344668888442, 'joint_isj': 888456.0948632212, 'ee_path_length': 4.406394018310654, 'joint_rmse_mean': 1.820377479739849, 'ee_speed_max': 1.0909063816070557, 'ee_speed_mean': 0.14753949642181396}, events: {'GRIPPER_HIT_TABLE': 4, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 3630.68, 'policy_inference_avg_ms': 8542.8, 'env_step_s': 242.914, 'env_step_avg_ms': 571.6, 'video_write_s': 3.084, 'video_write_avg_ms': 7.3, 'wall_total_s': 3876.677, 'it_per_sec': 0.11}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 9bfe1ee4b8814ba3b98c43b7f2fc8d3a-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T04:28:24Z [13,691,865ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.148318 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T04:28:30Z [13,697,492ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T04:28:30Z [13,697,493ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T04:28:30Z [13,697,502ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T04:28:30Z [13,697,502ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T04:28:30Z [13,697,510ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T04:28:30Z [13,697,518ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T04:28:30Z [13,697,537ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-02T04:28:31Z [13,697,999ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,697,999ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,013ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,013ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,036ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,036ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,049ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,049ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,113ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((416))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,114ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((416))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,118ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,118ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,143ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,143ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,143ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,146ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((426))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,146ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((426))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,177ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,177ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,182ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((444))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,183ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((444))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,190ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,190ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,428ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((469))' not available in the MDL representation.
+2026-11-02T04:28:31Z [13,698,428ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((469))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,100ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,100ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,101ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,101ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,102ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,103ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,103ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,103ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,106ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((416))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,107ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((416))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,107ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,107ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,108ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,108ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,109ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,109ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((426))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,109ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((426))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,110ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,110ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,111ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((444))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,111ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((444))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,111ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,112ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,113ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((469))' not available in the MDL representation.
+2026-11-02T04:28:32Z [13,699,113ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((469))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.319612 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SpoonInMugTask                                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the metal spoon that's in the wooden bowl in the mug │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SpoonInMugTaskSceneEnvCfg                     │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SpoonInMugTask_0: 'Put the metal spoon that's in the wooden bowl in the mug' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:18<19:33:09, 78.30s/it]
  0%|          | 2/900 [01:18<8:07:22, 32.56s/it] 
  0%|          | 3/900 [01:19<4:28:10, 17.94s/it]
  0%|          | 4/900 [01:19<2:45:16, 11.07s/it]
  1%|          | 5/900 [01:20<1:48:30,  7.27s/it]
  1%|          | 6/900 [01:21<1:14:18,  4.99s/it]
  1%|          | 7/900 [01:21<52:31,  3.53s/it]  
  1%|          | 8/900 [01:22<38:16,  2.57s/it]
  1%|          | 9/900 [01:32<1:13:22,  4.94s/it]
  1%|          | 10/900 [01:32<53:05,  3.58s/it] 
  1%|          | 11/900 [01:33<39:12,  2.65s/it]
  1%|▏         | 12/900 [01:33<29:35,  2.00s/it]
  1%|▏         | 13/900 [01:34<23:02,  1.56s/it]
  2%|▏         | 14/900 [01:34<18:25,  1.25s/it]
  2%|▏         | 15/900 [01:35<15:07,  1.03s/it]
  2%|▏         | 16/900 [01:35<12:54,  1.14it/s]
  2%|▏         | 17/900 [01:58<1:48:20,  7.36s/it]
  2%|▏         | 18/900 [01:58<1:18:03,  5.31s/it]
  2%|▏         | 19/900 [01:59<56:50,  3.87s/it]  
  2%|▏         | 20/900 [01:59<42:04,  2.87s/it]
  2%|▏         | 21/900 [02:00<31:44,  2.17s/it]
  2%|▏         | 22/900 [02:01<24:34,  1.68s/it]
  3%|▎         | 23/900 [02:01<19:27,  1.33s/it]
  3%|▎         | 24/900 [02:02<15:56,  1.09s/it]
  3%|▎         | 25/900 [02:16<1:12:33,  4.97s/it]
  3%|▎         | 26/900 [02:16<53:04,  3.64s/it]  
  3%|▎         | 27/900 [02:17<39:21,  2.71s/it]
  3%|▎         | 28/900 [02:17<29:49,  2.05s/it]
  3%|▎         | 29/900 [02:18<23:08,  1.59s/it]
  3%|▎         | 30/900 [02:18<18:28,  1.27s/it]
  3%|▎         | 31/900 [02:19<15:12,  1.05s/it]
  4%|▎         | 32/900 [02:19<12:54,  1.12it/s]
  4%|▎         | 33/900 [02:46<2:05:22,  8.68s/it]
  4%|▍         | 34/900 [02:47<1:29:53,  6.23s/it]
  4%|▍         | 35/900 [02:47<1:05:12,  4.52s/it]
  4%|▍         | 36/900 [02:48<47:57,  3.33s/it]  
  4%|▍         | 37/900 [02:48<35:47,  2.49s/it]
  4%|▍         | 38/900 [02:49<27:20,  1.90s/it]
  4%|▍         | 39/900 [02:49<21:20,  1.49s/it]
  4%|▍         | 40/900 [02:50<17:09,  1.20s/it]
  5%|▍         | 41/900 [03:14<1:56:35,  8.14s/it]
  5%|▍         | 42/900 [03:15<1:23:52,  5.86s/it]
  5%|▍         | 43/900 [03:15<1:01:02,  4.27s/it]
  5%|▍         | 44/900 [03:16<45:04,  3.16s/it]  
  5%|▌         | 45/900 [03:16<33:45,  2.37s/it]
  5%|▌         | 46/900 [03:17<25:49,  1.81s/it]
  5%|▌         | 47/900 [03:17<20:12,  1.42s/it]
  5%|▌         | 48/900 [03:18<16:28,  1.16s/it]
  5%|▌         | 49/900 [03:39<1:41:07,  7.13s/it]
  6%|▌         | 50/900 [03:40<1:13:05,  5.16s/it]
  6%|▌         | 51/900 [03:40<53:16,  3.76s/it]  
  6%|▌         | 52/900 [03:41<39:26,  2.79s/it]
  6%|▌         | 53/900 [03:41<29:49,  2.11s/it]
  6%|▌         | 54/900 [03:42<23:02,  1.63s/it]
  6%|▌         | 55/900 [03:42<18:20,  1.30s/it]
  6%|▌         | 56/900 [03:43<15:08,  1.08s/it]
  6%|▋         | 57/900 [04:00<1:21:39,  5.81s/it]
  6%|▋         | 58/900 [04:00<59:19,  4.23s/it]  
  7%|▋         | 59/900 [04:01<43:53,  3.13s/it]
  7%|▋         | 60/900 [04:01<33:04,  2.36s/it]
  7%|▋         | 61/900 [04:02<25:26,  1.82s/it]
  7%|▋         | 62/900 [04:02<20:09,  1.44s/it]
  7%|▋         | 63/900 [04:03<16:28,  1.18s/it]
  7%|▋         | 64/900 [04:03<13:43,  1.01it/s]
  7%|▋         | 65/900 [04:22<1:28:54,  6.39s/it]
  7%|▋         | 66/900 [04:23<1:04:25,  4.63s/it]
  7%|▋         | 67/900 [04:24<47:12,  3.40s/it]  
  8%|▊         | 68/900 [04:24<35:10,  2.54s/it]
  8%|▊         | 69/900 [04:25<26:50,  1.94s/it]
  8%|▊         | 70/900 [04:25<20:56,  1.51s/it]
  8%|▊         | 71/900 [04:26<16:48,  1.22s/it]
  8%|▊         | 72/900 [04:26<13:53,  1.01s/it]
  8%|▊         | 73/900 [04:58<2:22:33, 10.34s/it]
  8%|▊         | 74/900 [04:59<1:41:55,  7.40s/it]
  8%|▊         | 75/900 [04:59<1:13:32,  5.35s/it]
  8%|▊         | 76/900 [05:00<53:36,  3.90s/it]  
  9%|▊         | 77/900 [05:00<39:44,  2.90s/it]
  9%|▊         | 78/900 [05:01<29:58,  2.19s/it]
  9%|▉         | 79/900 [05:02<23:10,  1.69s/it]
  9%|▉         | 80/900 [05:02<18:25,  1.35s/it]
  9%|▉         | 81/900 [05:22<1:34:45,  6.94s/it]
  9%|▉         | 82/900 [05:23<1:08:33,  5.03s/it]
  9%|▉         | 83/900 [05:23<50:06,  3.68s/it]  
  9%|▉         | 84/900 [05:24<37:13,  2.74s/it]
  9%|▉         | 85/900 [05:24<28:19,  2.09s/it]
 10%|▉         | 86/900 [05:25<22:00,  1.62s/it]
 10%|▉         | 87/900 [05:25<17:47,  1.31s/it]
 10%|▉         | 88/900 [05:26<14:40,  1.08s/it]
 10%|▉         | 89/900 [05:46<1:29:50,  6.65s/it]
 10%|█         | 90/900 [05:46<1:05:09,  4.83s/it]
 10%|█         | 91/900 [05:47<47:47,  3.54s/it]  
 10%|█         | 92/900 [05:47<35:37,  2.65s/it]
 10%|█         | 93/900 [05:48<27:06,  2.02s/it]
 10%|█         | 94/900 [05:48<21:09,  1.57s/it]
 11%|█         | 95/900 [05:49<17:05,  1.27s/it]
 11%|█         | 96/900 [05:50<14:17,  1.07s/it]
 11%|█         | 97/900 [06:13<1:44:57,  7.84s/it]
 11%|█         | 98/900 [06:14<1:15:36,  5.66s/it]
 11%|█         | 99/900 [06:14<55:07,  4.13s/it]  
 11%|█         | 100/900 [06:15<40:41,  3.05s/it]
 11%|█         | 101/900 [06:15<30:35,  2.30s/it]
 11%|█▏        | 102/900 [06:16<23:31,  1.77s/it]
 11%|█▏        | 103/900 [06:16<18:49,  1.42s/it]
 12%|█▏        | 104/900 [06:17<15:20,  1.16s/it]
 12%|█▏        | 105/900 [06:55<2:40:40, 12.13s/it]
 12%|█▏        | 106/900 [06:55<1:54:34,  8.66s/it]
 12%|█▏        | 107/900 [06:56<1:22:27,  6.24s/it]
 12%|█▏        | 108/900 [06:56<59:53,  4.54s/it]  
 12%|█▏        | 109/900 [06:57<44:03,  3.34s/it]
 12%|█▏        | 110/900 [06:58<33:05,  2.51s/it]
 12%|█▏        | 111/900 [06:58<25:14,  1.92s/it]
 12%|█▏        | 112/900 [06:59<19:55,  1.52s/it]
 13%|█▎        | 113/900 [07:55<3:55:46, 17.98s/it]
 13%|█▎        | 114/900 [07:56<2:47:06, 12.76s/it]
 13%|█▎        | 115/900 [07:56<1:59:04,  9.10s/it]
 13%|█▎        | 116/900 [07:57<1:25:23,  6.54s/it]
 13%|█▎        | 117/900 [07:57<1:01:50,  4.74s/it]
 13%|█▎        | 118/900 [07:58<45:22,  3.48s/it]  
 13%|█▎        | 119/900 [07:58<33:58,  2.61s/it]
 13%|█▎        | 120/900 [07:59<26:03,  2.00s/it]
 13%|█▎        | 121/900 [08:27<2:07:45,  9.84s/it]
 14%|█▎        | 122/900 [08:28<1:31:28,  7.05s/it]
 14%|█▎        | 123/900 [08:28<1:06:07,  5.11s/it]
 14%|█▍        | 124/900 [08:29<48:22,  3.74s/it]  
 14%|█▍        | 125/900 [08:29<35:57,  2.78s/it]
 14%|█▍        | 126/900 [08:30<27:14,  2.11s/it]
 14%|█▍        | 127/900 [08:31<21:09,  1.64s/it]
 14%|█▍        | 128/900 [08:31<16:54,  1.31s/it]
 14%|█▍        | 129/900 [09:18<3:11:51, 14.93s/it]
 14%|█▍        | 130/900 [09:18<2:16:08, 10.61s/it]
 15%|█▍        | 131/900 [09:19<1:37:16,  7.59s/it]
 15%|█▍        | 132/900 [09:19<1:10:05,  5.48s/it]
 15%|█▍        | 133/900 [09:20<51:12,  4.01s/it]  
 15%|█▍        | 134/900 [09:21<37:57,  2.97s/it]
 15%|█▌        | 135/900 [09:21<28:42,  2.25s/it]
 15%|█▌        | 136/900 [09:22<22:16,  1.75s/it]
 15%|█▌        | 137/900 [10:22<4:06:01, 19.35s/it]
 15%|█▌        | 138/900 [10:23<2:54:11, 13.72s/it]
 15%|█▌        | 139/900 [10:23<2:03:56,  9.77s/it]
 16%|█▌        | 140/900 [10:24<1:28:45,  7.01s/it]
 16%|█▌        | 141/900 [10:24<1:04:10,  5.07s/it]
 16%|█▌        | 142/900 [10:25<46:56,  3.72s/it]  
 16%|█▌        | 143/900 [10:25<34:54,  2.77s/it]
 16%|█▌        | 144/900 [10:26<26:30,  2.10s/it]
 16%|█▌        | 145/900 [11:02<2:34:58, 12.32s/it]
 16%|█▌        | 146/900 [11:03<1:50:24,  8.79s/it]
 16%|█▋        | 147/900 [11:03<1:19:14,  6.31s/it]
 16%|█▋        | 148/900 [11:04<57:28,  4.59s/it]  
 17%|█▋        | 149/900 [11:04<42:22,  3.39s/it]
 17%|█▋        | 150/900 [11:05<31:53,  2.55s/it]
 17%|█▋        | 151/900 [11:06<24:29,  1.96s/it]
 17%|█▋        | 152/900 [11:06<19:07,  1.53s/it]
 17%|█▋        | 153/900 [11:39<2:16:52, 10.99s/it]
 17%|█▋        | 154/900 [11:40<1:37:34,  7.85s/it]
 17%|█▋        | 155/900 [11:40<1:10:03,  5.64s/it]
 17%|█▋        | 156/900 [11:41<50:57,  4.11s/it]  
 17%|█▋        | 157/900 [11:41<37:38,  3.04s/it]
 18%|█▊        | 158/900 [11:42<28:13,  2.28s/it]
 18%|█▊        | 159/900 [11:42<21:38,  1.75s/it]
 18%|█▊        | 160/900 [11:43<17:03,  1.38s/it]
 18%|█▊        | 161/900 [12:17<2:17:38, 11.18s/it]
 18%|█▊        | 162/900 [12:17<1:38:10,  7.98s/it]
 18%|█▊        | 163/900 [12:18<1:10:33,  5.74s/it]
 18%|█▊        | 164/900 [12:18<51:14,  4.18s/it]  
 18%|█▊        | 165/900 [12:19<37:51,  3.09s/it]
 18%|█▊        | 166/900 [12:19<28:29,  2.33s/it]
 19%|█▊        | 167/900 [12:20<21:53,  1.79s/it]
 19%|█▊        | 168/900 [12:21<17:14,  1.41s/it]
 19%|█▉        | 169/900 [12:49<1:57:15,  9.62s/it]
 19%|█▉        | 170/900 [12:50<1:24:08,  6.92s/it]
 19%|█▉        | 171/900 [12:50<1:00:46,  5.00s/it]
 19%|█▉        | 172/900 [12:51<44:23,  3.66s/it]  
 19%|█▉        | 173/900 [12:52<32:51,  2.71s/it]
 19%|█▉        | 174/900 [12:52<24:50,  2.05s/it]
 19%|█▉        | 175/900 [12:53<19:11,  1.59s/it]
 20%|█▉        | 176/900 [12:53<15:20,  1.27s/it]
 20%|█▉        | 177/900 [13:15<1:29:21,  7.42s/it]
 20%|█▉        | 178/900 [13:15<1:04:19,  5.35s/it]
 20%|█▉        | 179/900 [13:16<46:48,  3.89s/it]  
 20%|██        | 180/900 [13:16<34:37,  2.89s/it]
 20%|██        | 181/900 [13:17<26:00,  2.17s/it]
 20%|██        | 182/900 [13:17<20:09,  1.68s/it]
 20%|██        | 183/900 [13:18<16:00,  1.34s/it]
 20%|██        | 184/900 [13:18<13:06,  1.10s/it]
 21%|██        | 185/900 [13:36<1:11:17,  5.98s/it]
 21%|██        | 186/900 [13:36<51:43,  4.35s/it]  
 21%|██        | 187/900 [13:37<38:06,  3.21s/it]
 21%|██        | 188/900 [13:37<28:33,  2.41s/it]
 21%|██        | 189/900 [13:38<21:52,  1.85s/it]
 21%|██        | 190/900 [13:39<17:12,  1.45s/it]
 21%|██        | 191/900 [13:39<13:57,  1.18s/it]
 21%|██▏       | 192/900 [13:40<11:33,  1.02it/s]
 21%|██▏       | 193/900 [14:40<3:40:32, 18.72s/it]
 22%|██▏       | 194/900 [14:40<2:36:05, 13.27s/it]
 22%|██▏       | 195/900 [14:41<1:51:04,  9.45s/it]
 22%|██▏       | 196/900 [14:41<1:19:29,  6.78s/it]
 22%|██▏       | 197/900 [14:42<57:23,  4.90s/it]  
 22%|██▏       | 198/900 [14:42<41:56,  3.58s/it]
 22%|██▏       | 199/900 [14:43<31:06,  2.66s/it]
 22%|██▏       | 200/900 [14:43<23:27,  2.01s/it]
 22%|██▏       | 201/900 [15:06<1:33:42,  8.04s/it]
 22%|██▏       | 202/900 [15:06<1:07:16,  5.78s/it]
 23%|██▎       | 203/900 [15:07<48:48,  4.20s/it]  
 23%|██▎       | 204/900 [15:07<35:51,  3.09s/it]
 23%|██▎       | 205/900 [15:08<26:51,  2.32s/it]
 23%|██▎       | 206/900 [15:08<20:32,  1.78s/it]
 23%|██▎       | 207/900 [15:09<16:17,  1.41s/it]
 23%|██▎       | 208/900 [15:09<13:11,  1.14s/it]
 23%|██▎       | 209/900 [16:10<3:38:34, 18.98s/it]
 23%|██▎       | 210/900 [16:10<2:34:34, 13.44s/it]
 23%|██▎       | 211/900 [16:11<1:49:47,  9.56s/it]
 24%|██▎       | 212/900 [16:11<1:18:32,  6.85s/it]
 24%|██▎       | 213/900 [16:12<56:41,  4.95s/it]  
 24%|██▍       | 214/900 [16:12<41:30,  3.63s/it]
 24%|██▍       | 215/900 [16:13<30:48,  2.70s/it]
 24%|██▍       | 216/900 [16:13<23:18,  2.04s/it]
 24%|██▍       | 217/900 [16:31<1:17:41,  6.83s/it]
 24%|██▍       | 218/900 [16:32<56:12,  4.94s/it]  
 24%|██▍       | 219/900 [16:32<41:12,  3.63s/it]
 24%|██▍       | 220/900 [16:33<30:41,  2.71s/it]
 25%|██▍       | 221/900 [16:34<23:16,  2.06s/it]
 25%|██▍       | 222/900 [16:34<18:10,  1.61s/it]
 25%|██▍       | 223/900 [16:35<14:31,  1.29s/it]
 25%|██▍       | 224/900 [16:35<12:00,  1.07s/it]
 25%|██▌       | 225/900 [17:02<1:39:30,  8.85s/it]
 25%|██▌       | 226/900 [17:03<1:11:25,  6.36s/it]
 25%|██▌       | 227/900 [17:03<51:55,  4.63s/it]  
 25%|██▌       | 228/900 [17:04<38:16,  3.42s/it]
 25%|██▌       | 229/900 [17:05<28:46,  2.57s/it]
 26%|██▌       | 230/900 [17:05<22:00,  1.97s/it]
 26%|██▌       | 231/900 [17:06<17:10,  1.54s/it]
 26%|██▌       | 232/900 [17:06<13:43,  1.23s/it]
 26%|██▌       | 233/900 [17:50<2:36:12, 14.05s/it]
 26%|██▌       | 234/900 [17:51<1:50:56, 10.00s/it]
 26%|██▌       | 235/900 [17:51<1:19:17,  7.15s/it]
 26%|██▌       | 236/900 [17:52<57:18,  5.18s/it]  
 26%|██▋       | 237/900 [17:52<41:50,  3.79s/it]
 26%|██▋       | 238/900 [17:53<31:01,  2.81s/it]
 27%|██▋       | 239/900 [17:53<23:26,  2.13s/it]
 27%|██▋       | 240/900 [17:54<18:11,  1.65s/it]
 27%|██▋       | 241/900 [19:30<5:29:38, 30.01s/it]
 27%|██▋       | 242/900 [19:31<3:52:07, 21.17s/it]
 27%|██▋       | 243/900 [19:31<2:43:58, 14.97s/it]
 27%|██▋       | 244/900 [19:32<1:56:19, 10.64s/it]
 27%|██▋       | 245/900 [19:32<1:22:56,  7.60s/it]
 27%|██▋       | 246/900 [19:33<59:36,  5.47s/it]  
 27%|██▋       | 247/900 [19:33<43:19,  3.98s/it]
 28%|██▊       | 248/900 [19:34<31:53,  2.93s/it]
 28%|██▊       | 249/900 [19:57<1:38:09,  9.05s/it]
 28%|██▊       | 250/900 [19:58<1:10:22,  6.50s/it]
 28%|██▊       | 251/900 [19:58<50:56,  4.71s/it]  
 28%|██▊       | 252/900 [19:59<37:22,  3.46s/it]
 28%|██▊       | 253/900 [19:59<27:48,  2.58s/it]
 28%|██▊       | 254/900 [20:00<21:06,  1.96s/it]
 28%|██▊       | 255/900 [20:00<16:19,  1.52s/it]
 28%|██▊       | 256/900 [20:01<12:59,  1.21s/it]
 29%|██▊       | 257/900 [20:52<2:53:39, 16.20s/it]
 29%|██▊       | 258/900 [20:52<2:03:17, 11.52s/it]
 29%|██▉       | 259/900 [20:53<1:27:55,  8.23s/it]
 29%|██▉       | 260/900 [20:54<1:03:07,  5.92s/it]
 29%|██▉       | 261/900 [20:54<45:58,  4.32s/it]  
 29%|██▉       | 262/900 [20:55<33:53,  3.19s/it]
 29%|██▉       | 263/900 [20:55<25:27,  2.40s/it]
 29%|██▉       | 264/900 [20:56<19:38,  1.85s/it]
 29%|██▉       | 265/900 [21:42<2:41:03, 15.22s/it]
 30%|██▉       | 266/900 [21:43<1:54:24, 10.83s/it]
 30%|██▉       | 267/900 [21:43<1:21:42,  7.74s/it]
 30%|██▉       | 268/900 [21:44<58:49,  5.58s/it]  
 30%|██▉       | 269/900 [21:44<42:54,  4.08s/it]
 30%|███       | 270/900 [21:45<31:43,  3.02s/it]
 30%|███       | 271/900 [21:46<24:03,  2.29s/it]
 30%|███       | 272/900 [21:46<18:34,  1.78s/it]
 30%|███       | 273/900 [22:53<3:41:55, 21.24s/it]
 30%|███       | 274/900 [22:53<2:36:49, 15.03s/it]
 31%|███       | 275/900 [22:54<1:51:09, 10.67s/it]
 31%|███       | 276/900 [22:54<1:19:23,  7.63s/it]
 31%|███       | 277/900 [22:55<57:04,  5.50s/it]  
 31%|███       | 278/900 [22:55<41:35,  4.01s/it]
 31%|███       | 279/900 [22:56<30:38,  2.96s/it]
 31%|███       | 280/900 [22:56<23:00,  2.23s/it]
 31%|███       | 281/900 [23:23<1:39:26,  9.64s/it]
 31%|███▏      | 282/900 [23:24<1:11:07,  6.91s/it]
 31%|███▏      | 283/900 [23:24<51:18,  4.99s/it]  
 32%|███▏      | 284/900 [23:25<37:25,  3.65s/it]
 32%|███▏      | 285/900 [23:26<27:50,  2.72s/it]
 32%|███▏      | 286/900 [23:26<21:03,  2.06s/it]
 32%|███▏      | 287/900 [23:27<16:22,  1.60s/it]
 32%|███▏      | 288/900 [23:27<13:02,  1.28s/it]
 32%|███▏      | 289/900 [24:51<4:25:53, 26.11s/it]
 32%|███▏      | 290/900 [24:52<3:07:24, 18.43s/it]
 32%|███▏      | 291/900 [24:52<2:12:35, 13.06s/it]
 32%|███▏      | 292/900 [24:53<1:34:16,  9.30s/it]
 33%|███▎      | 293/900 [24:53<1:07:25,  6.66s/it]
 33%|███▎      | 294/900 [24:54<48:38,  4.82s/it]  
 33%|███▎      | 295/900 [24:54<35:34,  3.53s/it]
 33%|███▎      | 296/900 [24:55<26:26,  2.63s/it]
 33%|███▎      | 297/900 [25:28<2:00:07, 11.95s/it]
 33%|███▎      | 298/900 [25:29<1:25:39,  8.54s/it]
 33%|███▎      | 299/900 [25:30<1:01:33,  6.15s/it]
 33%|███▎      | 300/900 [25:30<44:40,  4.47s/it]  
 33%|███▎      | 301/900 [25:31<32:54,  3.30s/it]
 34%|███▎      | 302/900 [25:31<24:45,  2.48s/it]
 34%|███▎      | 303/900 [25:32<19:00,  1.91s/it]
 34%|███▍      | 304/900 [25:32<15:00,  1.51s/it]
 34%|███▍      | 305/900 [26:11<2:03:36, 12.46s/it]
 34%|███▍      | 306/900 [26:11<1:28:01,  8.89s/it]
 34%|███▍      | 307/900 [26:12<1:03:15,  6.40s/it]
 34%|███▍      | 308/900 [26:12<45:54,  4.65s/it]  
 34%|███▍      | 309/900 [26:13<33:45,  3.43s/it]
 34%|███▍      | 310/900 [26:13<25:13,  2.57s/it]
 35%|███▍      | 311/900 [26:14<19:13,  1.96s/it]
 35%|███▍      | 312/900 [26:14<15:07,  1.54s/it]
 35%|███▍      | 313/900 [26:46<1:42:44, 10.50s/it]
 35%|███▍      | 314/900 [26:46<1:13:27,  7.52s/it]
 35%|███▌      | 315/900 [26:47<52:54,  5.43s/it]  
 35%|███▌      | 316/900 [26:48<38:33,  3.96s/it]
 35%|███▌      | 317/900 [26:48<28:35,  2.94s/it]
 35%|███▌      | 318/900 [26:49<21:40,  2.23s/it]
 35%|███▌      | 319/900 [26:49<16:43,  1.73s/it]
 36%|███▌      | 320/900 [26:50<13:16,  1.37s/it]
 36%|███▌      | 321/900 [29:03<6:36:13, 41.06s/it]
 36%|███▌      | 322/900 [29:04<4:38:29, 28.91s/it]
 36%|███▌      | 323/900 [29:05<3:16:12, 20.40s/it]
 36%|███▌      | 324/900 [29:05<2:18:38, 14.44s/it]
 36%|███▌      | 325/900 [29:06<1:38:34, 10.29s/it]
 36%|███▌      | 326/900 [29:06<1:10:26,  7.36s/it]
 36%|███▋      | 327/900 [29:07<50:46,  5.32s/it]  
 36%|███▋      | 328/900 [29:07<37:02,  3.89s/it]
 37%|███▋      | 329/900 [29:53<2:36:06, 16.40s/it]
 37%|███▋      | 330/900 [29:53<1:50:41, 11.65s/it]
 37%|███▋      | 331/900 [29:54<1:18:53,  8.32s/it]
 37%|███▋      | 332/900 [29:55<56:39,  5.99s/it]  
 37%|███▋      | 333/900 [29:55<41:07,  4.35s/it]
 37%|███▋      | 334/900 [29:56<30:15,  3.21s/it]
 37%|███▋      | 335/900 [29:56<22:44,  2.41s/it]
 37%|███▋      | 336/900 [29:57<17:28,  1.86s/it]
 37%|███▋      | 337/900 [30:59<3:06:59, 19.93s/it]
 38%|███▊      | 338/900 [30:59<2:12:17, 14.12s/it]
 38%|███▊      | 339/900 [31:00<1:34:03, 10.06s/it]
 38%|███▊      | 340/900 [31:01<1:07:16,  7.21s/it]
 38%|███▊      | 341/900 [31:01<48:36,  5.22s/it]  
 38%|███▊      | 342/900 [31:02<35:31,  3.82s/it]
 38%|███▊      | 343/900 [31:02<26:22,  2.84s/it]
 38%|███▊      | 344/900 [31:03<19:59,  2.16s/it]
 38%|███▊      | 345/900 [32:15<3:33:40, 23.10s/it]
 38%|███▊      | 346/900 [32:15<2:30:47, 16.33s/it]
 39%|███▊      | 347/900 [32:16<1:46:49, 11.59s/it]
 39%|███▊      | 348/900 [32:16<1:16:06,  8.27s/it]
 39%|███▉      | 349/900 [32:17<54:42,  5.96s/it]  
 39%|███▉      | 350/900 [32:17<39:42,  4.33s/it]
 39%|███▉      | 351/900 [32:18<29:14,  3.20s/it]
 39%|███▉      | 352/900 [32:19<22:00,  2.41s/it]
 39%|███▉      | 353/900 [32:48<1:35:42, 10.50s/it]
 39%|███▉      | 354/900 [32:49<1:08:33,  7.53s/it]
 39%|███▉      | 355/900 [32:49<49:24,  5.44s/it]  
 40%|███▉      | 356/900 [32:50<36:02,  3.98s/it]
 40%|███▉      | 357/900 [32:50<26:44,  2.96s/it]
 40%|███▉      | 358/900 [32:51<20:12,  2.24s/it]
 40%|███▉      | 359/900 [32:51<15:37,  1.73s/it]
 40%|████      | 360/900 [32:52<12:23,  1.38s/it]
 40%|████      | 361/900 [33:27<1:44:19, 11.61s/it]
 40%|████      | 362/900 [33:28<1:14:25,  8.30s/it]
 40%|████      | 363/900 [33:29<53:33,  5.98s/it]  
 40%|████      | 364/900 [33:29<38:58,  4.36s/it]
 41%|████      | 365/900 [33:30<28:45,  3.23s/it]
 41%|████      | 366/900 [33:30<21:37,  2.43s/it]
 41%|████      | 367/900 [33:31<16:42,  1.88s/it]
 41%|████      | 368/900 [33:31<13:16,  1.50s/it]
 41%|████      | 368/900 [34:26<49:48,  5.62s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_0_env0.json.
+SpoonInMugTask_0 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 369, duration: 24.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.829888237036991, 'joint_sparc_mean': -9.052583979450992, 'ee_isj': 1462.304852115386, 'joint_isj': 54266.96512177565, 'ee_path_length': 2.9574002414056286, 'joint_rmse_mean': 0.8590022613905751, 'ee_speed_max': 0.5273124575614929, 'ee_speed_mean': 0.11168593913316727}, events: {'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_HIT_TABLE': 2, 'wrong_objects_grabbed': ['granola_bars']}, instruction_type: default, timing: {'policy_inference_s': 1875.167, 'policy_inference_avg_ms': 5081.8, 'env_step_s': 188.245, 'env_step_avg_ms': 510.1, 'video_write_s': 3.319, 'video_write_avg_ms': 9.0, 'wall_total_s': 2066.731, 'it_per_sec': 0.18}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 7fbfac44f96a418899845601c9d3bc1f-0
+[RoboLab] Running SpoonInMugTask_1: 'Put the metal spoon that's in the wooden bowl in the mug' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:54<13:41:42, 54.84s/it]
  0%|          | 2/900 [00:55<5:42:34, 22.89s/it] 
  0%|          | 3/900 [00:55<3:09:21, 12.67s/it]
  0%|          | 4/900 [00:56<1:57:19,  7.86s/it]
  1%|          | 5/900 [00:56<1:17:44,  5.21s/it]
  1%|          | 6/900 [00:57<53:51,  3.61s/it]  
  1%|          | 7/900 [00:57<38:35,  2.59s/it]
  1%|          | 8/900 [00:58<28:36,  1.92s/it]
  1%|          | 9/900 [01:14<1:36:24,  6.49s/it]
  1%|          | 10/900 [01:15<1:08:50,  4.64s/it]
  1%|          | 11/900 [01:15<50:05,  3.38s/it]  
  1%|▏         | 12/900 [01:16<37:05,  2.51s/it]
  1%|▏         | 13/900 [01:16<28:07,  1.90s/it]
  2%|▏         | 14/900 [01:17<21:50,  1.48s/it]
  2%|▏         | 15/900 [01:17<17:26,  1.18s/it]
  2%|▏         | 16/900 [01:18<14:37,  1.01it/s]
  2%|▏         | 17/900 [01:33<1:18:28,  5.33s/it]
  2%|▏         | 18/900 [01:34<57:12,  3.89s/it]  
  2%|▏         | 19/900 [01:34<42:22,  2.89s/it]
  2%|▏         | 20/900 [01:35<31:46,  2.17s/it]
  2%|▏         | 21/900 [01:36<24:29,  1.67s/it]
  2%|▏         | 22/900 [01:36<19:27,  1.33s/it]
  3%|▎         | 23/900 [01:37<15:47,  1.08s/it]
  3%|▎         | 24/900 [01:37<13:12,  1.11it/s]
  3%|▎         | 25/900 [02:02<1:57:28,  8.06s/it]
  3%|▎         | 26/900 [02:02<1:24:29,  5.80s/it]
  3%|▎         | 27/900 [02:03<1:01:22,  4.22s/it]
  3%|▎         | 28/900 [02:03<45:12,  3.11s/it]  
  3%|▎         | 29/900 [02:04<33:52,  2.33s/it]
  3%|▎         | 30/900 [02:04<25:57,  1.79s/it]
  3%|▎         | 31/900 [02:05<20:32,  1.42s/it]
  4%|▎         | 32/900 [02:06<16:44,  1.16s/it]
  4%|▎         | 33/900 [02:23<1:29:05,  6.17s/it]
  4%|▍         | 34/900 [02:24<1:04:39,  4.48s/it]
  4%|▍         | 35/900 [02:24<47:30,  3.30s/it]  
  4%|▍         | 36/900 [02:25<35:28,  2.46s/it]
  4%|▍         | 37/900 [02:25<27:04,  1.88s/it]
  4%|▍         | 38/900 [02:26<21:09,  1.47s/it]
  4%|▍         | 39/900 [02:27<17:08,  1.20s/it]
  4%|▍         | 40/900 [02:27<14:12,  1.01it/s]
  5%|▍         | 41/900 [02:44<1:23:18,  5.82s/it]
  5%|▍         | 42/900 [02:45<1:00:27,  4.23s/it]
  5%|▍         | 43/900 [02:45<44:26,  3.11s/it]  
  5%|▍         | 44/900 [02:46<33:17,  2.33s/it]
  5%|▌         | 45/900 [02:46<25:35,  1.80s/it]
  5%|▌         | 46/900 [02:47<20:02,  1.41s/it]
  5%|▌         | 47/900 [02:47<16:11,  1.14s/it]
  5%|▌         | 48/900 [02:48<13:30,  1.05it/s]
  5%|▌         | 49/900 [03:19<2:21:19,  9.96s/it]
  6%|▌         | 50/900 [03:19<1:41:00,  7.13s/it]
  6%|▌         | 51/900 [03:20<1:12:50,  5.15s/it]
  6%|▌         | 52/900 [03:20<53:08,  3.76s/it]  
  6%|▌         | 53/900 [03:21<39:21,  2.79s/it]
  6%|▌         | 54/900 [03:21<29:49,  2.12s/it]
  6%|▌         | 55/900 [03:22<23:13,  1.65s/it]
  6%|▌         | 56/900 [03:22<18:35,  1.32s/it]
  6%|▋         | 57/900 [03:46<1:52:16,  7.99s/it]
  6%|▋         | 58/900 [03:47<1:20:43,  5.75s/it]
  7%|▋         | 59/900 [03:47<58:43,  4.19s/it]  
  7%|▋         | 60/900 [03:48<43:24,  3.10s/it]
  7%|▋         | 61/900 [03:48<32:32,  2.33s/it]
  7%|▋         | 62/900 [03:49<25:09,  1.80s/it]
  7%|▋         | 63/900 [03:49<19:55,  1.43s/it]
  7%|▋         | 64/900 [03:50<16:12,  1.16s/it]
  7%|▋         | 65/900 [04:22<2:25:14, 10.44s/it]
  7%|▋         | 66/900 [04:23<1:43:58,  7.48s/it]
  7%|▋         | 67/900 [04:23<1:14:56,  5.40s/it]
  8%|▊         | 68/900 [04:24<54:38,  3.94s/it]  
  8%|▊         | 69/900 [04:24<40:39,  2.94s/it]
  8%|▊         | 70/900 [04:25<30:41,  2.22s/it]
  8%|▊         | 71/900 [04:25<23:40,  1.71s/it]
  8%|▊         | 72/900 [04:26<18:53,  1.37s/it]
  8%|▊         | 73/900 [04:51<1:57:09,  8.50s/it]
  8%|▊         | 74/900 [04:52<1:24:16,  6.12s/it]
  8%|▊         | 75/900 [04:52<1:01:17,  4.46s/it]
  8%|▊         | 76/900 [04:53<45:11,  3.29s/it]  
  9%|▊         | 77/900 [04:53<33:57,  2.48s/it]
  9%|▊         | 78/900 [04:54<26:08,  1.91s/it]
  9%|▉         | 79/900 [04:54<20:39,  1.51s/it]
  9%|▉         | 80/900 [04:55<16:47,  1.23s/it]
  9%|▉         | 81/900 [05:09<1:08:56,  5.05s/it]
  9%|▉         | 82/900 [05:10<50:23,  3.70s/it]  
  9%|▉         | 83/900 [05:10<37:30,  2.75s/it]
  9%|▉         | 84/900 [05:11<28:21,  2.09s/it]
  9%|▉         | 85/900 [05:11<22:04,  1.63s/it]
 10%|▉         | 86/900 [05:12<17:43,  1.31s/it]
 10%|▉         | 87/900 [05:12<14:32,  1.07s/it]
 10%|▉         | 88/900 [05:13<12:21,  1.09it/s]
 10%|▉         | 89/900 [05:37<1:45:11,  7.78s/it]
 10%|█         | 90/900 [05:37<1:15:39,  5.60s/it]
 10%|█         | 91/900 [05:38<55:07,  4.09s/it]  
 10%|█         | 92/900 [05:38<40:46,  3.03s/it]
 10%|█         | 93/900 [05:39<30:45,  2.29s/it]
 10%|█         | 94/900 [05:39<23:48,  1.77s/it]
 11%|█         | 95/900 [05:40<18:46,  1.40s/it]
 11%|█         | 96/900 [05:40<15:28,  1.16s/it]
 11%|█         | 97/900 [06:02<1:36:41,  7.23s/it]
 11%|█         | 98/900 [06:02<1:09:45,  5.22s/it]
 11%|█         | 99/900 [06:03<50:54,  3.81s/it]  
 11%|█         | 100/900 [06:03<37:47,  2.83s/it]
 11%|█         | 101/900 [06:04<28:37,  2.15s/it]
 11%|█▏        | 102/900 [06:05<22:12,  1.67s/it]
 11%|█▏        | 103/900 [06:05<17:43,  1.33s/it]
 12%|█▏        | 104/900 [06:06<14:36,  1.10s/it]
 12%|█▏        | 105/900 [06:22<1:13:45,  5.57s/it]
 12%|█▏        | 106/900 [06:22<53:48,  4.07s/it]  
 12%|█▏        | 107/900 [06:23<39:49,  3.01s/it]
 12%|█▏        | 108/900 [06:23<30:11,  2.29s/it]
 12%|█▏        | 109/900 [06:24<23:18,  1.77s/it]
 12%|█▏        | 110/900 [06:25<18:30,  1.41s/it]
 12%|█▏        | 111/900 [06:25<15:04,  1.15s/it]
 12%|█▏        | 112/900 [06:26<12:48,  1.03it/s]
 13%|█▎        | 113/900 [06:43<1:18:20,  5.97s/it]
 13%|█▎        | 114/900 [06:44<56:51,  4.34s/it]  
 13%|█▎        | 115/900 [06:44<41:42,  3.19s/it]
 13%|█▎        | 116/900 [06:45<31:07,  2.38s/it]
 13%|█▎        | 117/900 [06:45<23:50,  1.83s/it]
 13%|█▎        | 118/900 [06:46<18:49,  1.44s/it]
 13%|█▎        | 119/900 [06:46<15:09,  1.16s/it]
 13%|█▎        | 120/900 [06:47<12:36,  1.03it/s]
 13%|█▎        | 121/900 [07:06<1:25:04,  6.55s/it]
 14%|█▎        | 122/900 [07:07<1:01:31,  4.74s/it]
 14%|█▎        | 123/900 [07:08<45:03,  3.48s/it]  
 14%|█▍        | 124/900 [07:08<33:33,  2.60s/it]
 14%|█▍        | 125/900 [07:09<25:30,  1.97s/it]
 14%|█▍        | 126/900 [07:09<19:47,  1.53s/it]
 14%|█▍        | 127/900 [07:10<15:48,  1.23s/it]
 14%|█▍        | 128/900 [07:10<12:58,  1.01s/it]
 14%|█▍        | 129/900 [07:36<1:48:48,  8.47s/it]
 14%|█▍        | 130/900 [07:37<1:18:06,  6.09s/it]
 15%|█▍        | 131/900 [07:37<56:37,  4.42s/it]  
 15%|█▍        | 132/900 [07:38<41:35,  3.25s/it]
 15%|█▍        | 133/900 [07:38<31:10,  2.44s/it]
 15%|█▍        | 134/900 [07:39<23:54,  1.87s/it]
 15%|█▌        | 135/900 [07:39<18:54,  1.48s/it]
 15%|█▌        | 136/900 [07:40<15:22,  1.21s/it]
 15%|█▌        | 137/900 [08:04<1:43:44,  8.16s/it]
 15%|█▌        | 138/900 [08:05<1:14:43,  5.88s/it]
 15%|█▌        | 139/900 [08:05<54:20,  4.28s/it]  
 16%|█▌        | 140/900 [08:06<40:06,  3.17s/it]
 16%|█▌        | 141/900 [08:06<30:12,  2.39s/it]
 16%|█▌        | 142/900 [08:07<23:18,  1.85s/it]
 16%|█▌        | 143/900 [08:08<18:28,  1.46s/it]
 16%|█▌        | 144/900 [08:08<15:00,  1.19s/it]
 16%|█▌        | 145/900 [08:39<2:06:54, 10.09s/it]
 16%|█▌        | 146/900 [08:40<1:30:48,  7.23s/it]
 16%|█▋        | 147/900 [08:40<1:05:30,  5.22s/it]
 16%|█▋        | 148/900 [08:41<47:50,  3.82s/it]  
 17%|█▋        | 149/900 [08:41<35:28,  2.83s/it]
 17%|█▋        | 150/900 [08:42<26:56,  2.15s/it]
 17%|█▋        | 151/900 [08:42<20:53,  1.67s/it]
 17%|█▋        | 152/900 [08:43<16:48,  1.35s/it]
 17%|█▋        | 153/900 [10:47<7:55:11, 38.17s/it]
 17%|█▋        | 154/900 [10:48<5:34:20, 26.89s/it]
 17%|█▋        | 155/900 [10:48<3:55:47, 18.99s/it]
 17%|█▋        | 156/900 [10:49<2:46:55, 13.46s/it]
 17%|█▋        | 157/900 [10:49<1:58:51,  9.60s/it]
 18%|█▊        | 158/900 [10:50<1:25:12,  6.89s/it]
 18%|█▊        | 159/900 [10:50<1:01:41,  4.99s/it]
 18%|█▊        | 160/900 [10:51<45:16,  3.67s/it]  
 18%|█▊        | 161/900 [11:12<1:50:15,  8.95s/it]
 18%|█▊        | 162/900 [11:13<1:19:09,  6.44s/it]
 18%|█▊        | 163/900 [11:13<57:22,  4.67s/it]  
 18%|█▊        | 164/900 [11:14<42:04,  3.43s/it]
 18%|█▊        | 165/900 [11:14<31:22,  2.56s/it]
 18%|█▊        | 166/900 [11:15<23:51,  1.95s/it]
 19%|█▊        | 167/900 [11:15<18:42,  1.53s/it]
 19%|█▊        | 168/900 [11:16<15:01,  1.23s/it]
 19%|█▉        | 169/900 [11:46<1:58:29,  9.73s/it]
 19%|█▉        | 170/900 [11:46<1:24:47,  6.97s/it]
 19%|█▉        | 171/900 [11:47<1:01:13,  5.04s/it]
 19%|█▉        | 172/900 [11:47<44:51,  3.70s/it]  
 19%|█▉        | 173/900 [11:48<33:18,  2.75s/it]
 19%|█▉        | 174/900 [11:48<25:17,  2.09s/it]
 19%|█▉        | 175/900 [11:49<19:42,  1.63s/it]
 20%|█▉        | 176/900 [11:49<15:40,  1.30s/it]
 20%|█▉        | 177/900 [12:09<1:21:00,  6.72s/it]
 20%|█▉        | 178/900 [12:09<58:38,  4.87s/it]  
 20%|█▉        | 179/900 [12:10<43:00,  3.58s/it]
 20%|██        | 180/900 [12:10<32:06,  2.68s/it]
 20%|██        | 181/900 [12:11<24:35,  2.05s/it]
 20%|██        | 182/900 [12:12<19:16,  1.61s/it]
 20%|██        | 183/900 [12:12<15:35,  1.30s/it]
 20%|██        | 184/900 [12:13<13:10,  1.10s/it]
 21%|██        | 185/900 [12:54<2:37:20, 13.20s/it]
 21%|██        | 186/900 [12:55<1:51:58,  9.41s/it]
 21%|██        | 187/900 [12:55<1:20:13,  6.75s/it]
 21%|██        | 188/900 [12:56<57:58,  4.89s/it]  
 21%|██        | 189/900 [12:56<42:26,  3.58s/it]
 21%|██        | 190/900 [12:57<31:34,  2.67s/it]
 21%|██        | 191/900 [12:58<24:03,  2.04s/it]
 21%|██▏       | 192/900 [12:58<18:46,  1.59s/it]
 21%|██▏       | 193/900 [13:37<2:31:17, 12.84s/it]
 22%|██▏       | 194/900 [13:38<1:47:36,  9.14s/it]
 22%|██▏       | 195/900 [13:38<1:17:07,  6.56s/it]
 22%|██▏       | 196/900 [13:39<55:51,  4.76s/it]  
 22%|██▏       | 197/900 [13:39<40:53,  3.49s/it]
 22%|██▏       | 198/900 [13:40<30:26,  2.60s/it]
 22%|██▏       | 199/900 [13:40<23:13,  1.99s/it]
 22%|██▏       | 200/900 [13:41<18:14,  1.56s/it]
 22%|██▏       | 201/900 [14:23<2:38:19, 13.59s/it]
 22%|██▏       | 202/900 [14:23<1:52:37,  9.68s/it]
 23%|██▎       | 203/900 [14:24<1:20:43,  6.95s/it]
 23%|██▎       | 204/900 [14:24<58:21,  5.03s/it]  
 23%|██▎       | 205/900 [14:25<42:38,  3.68s/it]
 23%|██▎       | 206/900 [14:25<31:37,  2.73s/it]
 23%|██▎       | 207/900 [14:26<24:02,  2.08s/it]
 23%|██▎       | 208/900 [14:27<18:41,  1.62s/it]
 23%|██▎       | 209/900 [15:13<2:55:21, 15.23s/it]
 23%|██▎       | 210/900 [15:14<2:04:26, 10.82s/it]
 23%|██▎       | 211/900 [15:15<1:28:51,  7.74s/it]
 24%|██▎       | 212/900 [15:15<1:03:53,  5.57s/it]
 24%|██▎       | 213/900 [15:16<46:28,  4.06s/it]  
 24%|██▍       | 214/900 [15:16<34:20,  3.00s/it]
 24%|██▍       | 215/900 [15:17<25:51,  2.27s/it]
 24%|██▍       | 216/900 [15:17<19:59,  1.75s/it]
 24%|██▍       | 217/900 [15:48<2:00:06, 10.55s/it]
 24%|██▍       | 218/900 [15:49<1:25:52,  7.56s/it]
 24%|██▍       | 219/900 [15:49<1:01:53,  5.45s/it]
 24%|██▍       | 220/900 [15:50<45:05,  3.98s/it]  
 25%|██▍       | 221/900 [15:51<33:19,  2.95s/it]
 25%|██▍       | 222/900 [15:51<25:10,  2.23s/it]
 25%|██▍       | 223/900 [15:52<19:28,  1.73s/it]
 25%|██▍       | 224/900 [15:52<15:30,  1.38s/it]
 25%|██▌       | 225/900 [16:58<3:52:30, 20.67s/it]
 25%|██▌       | 226/900 [16:58<2:44:20, 14.63s/it]
 25%|██▌       | 227/900 [16:59<1:56:43, 10.41s/it]
 25%|██▌       | 228/900 [17:00<1:23:28,  7.45s/it]
 25%|██▌       | 229/900 [17:00<1:00:09,  5.38s/it]
 26%|██▌       | 230/900 [17:01<43:53,  3.93s/it]  
 26%|██▌       | 231/900 [17:01<32:27,  2.91s/it]
 26%|██▌       | 232/900 [17:02<24:26,  2.19s/it]
 26%|██▌       | 233/900 [18:57<6:43:06, 36.26s/it]
 26%|██▌       | 234/900 [18:58<4:43:33, 25.55s/it]
 26%|██▌       | 235/900 [18:58<3:19:56, 18.04s/it]
 26%|██▌       | 236/900 [18:59<2:21:29, 12.78s/it]
 26%|██▋       | 237/900 [19:00<1:40:38,  9.11s/it]
 26%|██▋       | 238/900 [19:00<1:12:06,  6.54s/it]
 27%|██▋       | 239/900 [19:01<52:14,  4.74s/it]  
 27%|██▋       | 240/900 [19:01<38:16,  3.48s/it]
 27%|██▋       | 241/900 [19:24<1:43:34,  9.43s/it]
 27%|██▋       | 242/900 [19:25<1:14:07,  6.76s/it]
 27%|██▋       | 243/900 [19:26<53:34,  4.89s/it]  
 27%|██▋       | 244/900 [19:26<39:12,  3.59s/it]
 27%|██▋       | 245/900 [19:27<29:15,  2.68s/it]
 27%|██▋       | 246/900 [19:27<22:16,  2.04s/it]
 27%|██▋       | 247/900 [19:28<17:25,  1.60s/it]
 28%|██▊       | 248/900 [19:28<13:59,  1.29s/it]
 28%|██▊       | 249/900 [20:06<2:12:10, 12.18s/it]
 28%|██▊       | 250/900 [20:06<1:34:13,  8.70s/it]
 28%|██▊       | 251/900 [20:07<1:07:35,  6.25s/it]
 28%|██▊       | 252/900 [20:08<49:11,  4.56s/it]  
 28%|██▊       | 253/900 [20:08<36:23,  3.37s/it]
 28%|██▊       | 254/900 [20:09<27:13,  2.53s/it]
 28%|██▊       | 255/900 [20:09<20:51,  1.94s/it]
 28%|██▊       | 256/900 [20:10<16:24,  1.53s/it]
 29%|██▊       | 257/900 [20:45<2:02:57, 11.47s/it]
 29%|██▊       | 258/900 [20:45<1:27:38,  8.19s/it]
 29%|██▉       | 259/900 [20:46<1:03:04,  5.90s/it]
 29%|██▉       | 260/900 [20:46<45:46,  4.29s/it]  
 29%|██▉       | 261/900 [20:47<33:40,  3.16s/it]
 29%|██▉       | 262/900 [20:47<25:19,  2.38s/it]
 29%|██▉       | 263/900 [20:48<19:22,  1.82s/it]
 29%|██▉       | 264/900 [20:48<15:13,  1.44s/it]
 29%|██▉       | 265/900 [21:36<2:40:22, 15.15s/it]
 30%|██▉       | 266/900 [21:36<1:53:50, 10.77s/it]
 30%|██▉       | 267/900 [21:37<1:21:17,  7.71s/it]
 30%|██▉       | 268/900 [21:37<58:37,  5.57s/it]  
 30%|██▉       | 269/900 [21:38<42:43,  4.06s/it]
 30%|███       | 270/900 [21:38<31:35,  3.01s/it]
 30%|███       | 271/900 [21:39<23:51,  2.28s/it]
 30%|███       | 272/900 [21:39<18:21,  1.75s/it]
 30%|███       | 273/900 [22:16<2:07:46, 12.23s/it]
 30%|███       | 274/900 [22:17<1:31:00,  8.72s/it]
 31%|███       | 275/900 [22:17<1:05:17,  6.27s/it]
 31%|███       | 276/900 [22:18<47:19,  4.55s/it]  
 31%|███       | 277/900 [22:18<34:46,  3.35s/it]
 31%|███       | 278/900 [22:19<25:54,  2.50s/it]
 31%|███       | 279/900 [22:19<19:50,  1.92s/it]
 31%|███       | 280/900 [22:20<15:38,  1.51s/it]
 31%|███       | 281/900 [23:05<2:29:45, 14.52s/it]
 31%|███▏      | 282/900 [23:05<1:46:18, 10.32s/it]
 31%|███▏      | 283/900 [23:06<1:16:00,  7.39s/it]
 32%|███▏      | 284/900 [23:06<54:49,  5.34s/it]  
 32%|███▏      | 285/900 [23:07<40:00,  3.90s/it]
 32%|███▏      | 286/900 [23:08<29:39,  2.90s/it]
 32%|███▏      | 287/900 [23:08<22:24,  2.19s/it]
 32%|███▏      | 288/900 [23:09<17:15,  1.69s/it]
 32%|███▏      | 289/900 [24:17<3:42:13, 21.82s/it]
 32%|███▏      | 290/900 [24:18<2:36:59, 15.44s/it]
 32%|███▏      | 291/900 [24:19<1:51:27, 10.98s/it]
 32%|███▏      | 292/900 [24:19<1:19:34,  7.85s/it]
 33%|███▎      | 293/900 [24:20<57:18,  5.66s/it]  
 33%|███▎      | 294/900 [24:20<41:47,  4.14s/it]
 33%|███▎      | 295/900 [24:21<30:54,  3.06s/it]
 33%|███▎      | 296/900 [24:21<23:12,  2.31s/it]
 33%|███▎      | 297/900 [26:57<8:05:41, 48.33s/it]
 33%|███▎      | 298/900 [26:58<5:40:59, 33.99s/it]
 33%|███▎      | 299/900 [26:58<3:59:55, 23.95s/it]
 33%|███▎      | 300/900 [26:59<2:49:23, 16.94s/it]
 33%|███▎      | 301/900 [26:59<2:00:02, 12.02s/it]
 34%|███▎      | 302/900 [27:00<1:25:29,  8.58s/it]
 34%|███▎      | 303/900 [27:00<1:01:23,  6.17s/it]
 34%|███▍      | 304/900 [27:01<44:29,  4.48s/it]  
 34%|███▍      | 305/900 [27:44<2:38:49, 16.02s/it]
 34%|███▍      | 306/900 [27:44<1:52:42, 11.38s/it]
 34%|███▍      | 307/900 [27:45<1:20:17,  8.12s/it]
 34%|███▍      | 308/900 [27:45<57:41,  5.85s/it]  
 34%|███▍      | 309/900 [27:46<41:57,  4.26s/it]
 34%|███▍      | 310/900 [27:47<30:58,  3.15s/it]
 35%|███▍      | 311/900 [27:47<23:17,  2.37s/it]
 35%|███▍      | 312/900 [27:48<17:48,  1.82s/it]
 35%|███▍      | 313/900 [28:50<3:15:38, 20.00s/it]
 35%|███▍      | 314/900 [28:51<2:18:16, 14.16s/it]
 35%|███▌      | 315/900 [28:51<1:38:17, 10.08s/it]
 35%|███▌      | 316/900 [28:52<1:10:12,  7.21s/it]
 35%|███▌      | 317/900 [28:52<50:38,  5.21s/it]  
 35%|███▌      | 318/900 [28:53<36:59,  3.81s/it]
 35%|███▌      | 319/900 [28:53<27:27,  2.84s/it]
 36%|███▌      | 320/900 [28:54<20:45,  2.15s/it]
 36%|███▌      | 321/900 [32:47<11:28:35, 71.36s/it]
 36%|███▌      | 322/900 [32:47<8:02:43, 50.11s/it] 
 36%|███▌      | 323/900 [32:48<5:38:51, 35.24s/it]
 36%|███▌      | 324/900 [32:48<3:58:16, 24.82s/it]
 36%|███▌      | 325/900 [32:49<2:48:01, 17.53s/it]
 36%|███▌      | 326/900 [32:49<1:58:56, 12.43s/it]
 36%|███▋      | 327/900 [32:50<1:24:38,  8.86s/it]
 36%|███▋      | 328/900 [32:50<1:00:37,  6.36s/it]
 37%|███▋      | 329/900 [34:55<6:38:37, 41.89s/it]
 37%|███▋      | 330/900 [34:56<4:40:09, 29.49s/it]
 37%|███▋      | 331/900 [34:56<3:17:16, 20.80s/it]
 37%|███▋      | 332/900 [34:57<2:19:24, 14.73s/it]
 37%|███▋      | 333/900 [34:57<1:38:59, 10.48s/it]
 37%|███▋      | 334/900 [34:58<1:10:44,  7.50s/it]
 37%|███▋      | 335/900 [34:58<50:59,  5.42s/it]  
 37%|███▋      | 336/900 [34:59<37:06,  3.95s/it]
 37%|███▋      | 337/900 [36:33<4:49:17, 30.83s/it]
 38%|███▊      | 338/900 [36:33<3:23:37, 21.74s/it]
 38%|███▊      | 339/900 [36:34<2:23:45, 15.38s/it]
 38%|███▊      | 340/900 [36:34<1:41:55, 10.92s/it]
 38%|███▊      | 341/900 [36:35<1:12:41,  7.80s/it]
 38%|███▊      | 342/900 [36:35<52:14,  5.62s/it]  
 38%|███▊      | 343/900 [36:36<37:58,  4.09s/it]
 38%|███▊      | 344/900 [36:36<28:05,  3.03s/it]
 38%|███▊      | 345/900 [38:24<5:17:22, 34.31s/it]
 38%|███▊      | 346/900 [38:24<3:43:14, 24.18s/it]
 39%|███▊      | 347/900 [38:25<2:37:28, 17.09s/it]
 39%|███▊      | 348/900 [38:25<1:51:29, 12.12s/it]
 39%|███▉      | 349/900 [38:26<1:19:23,  8.64s/it]
 39%|███▉      | 350/900 [38:26<56:53,  6.21s/it]  
 39%|███▉      | 351/900 [38:27<41:15,  4.51s/it]
 39%|███▉      | 352/900 [38:27<30:16,  3.32s/it]
 39%|███▉      | 353/900 [42:36<11:42:40, 77.08s/it]
 39%|███▉      | 354/900 [42:37<8:12:30, 54.12s/it] 
 39%|███▉      | 355/900 [42:38<5:45:37, 38.05s/it]
 40%|███▉      | 356/900 [42:38<4:03:01, 26.80s/it]
 40%|███▉      | 357/900 [42:39<2:51:18, 18.93s/it]
 40%|███▉      | 358/900 [42:39<2:01:11, 13.42s/it]
 40%|███▉      | 359/900 [42:40<1:26:09,  9.56s/it]
 40%|████      | 360/900 [42:40<1:01:40,  6.85s/it]
 40%|████      | 361/900 [50:56<23:00:10, 153.64s/it]
 40%|████      | 362/900 [50:57<16:05:50, 107.71s/it]
 40%|████      | 363/900 [50:58<11:16:20, 75.57s/it] 
 40%|████      | 364/900 [50:58<7:54:08, 53.07s/it] 
 41%|████      | 365/900 [50:59<5:32:44, 37.32s/it]
 41%|████      | 366/900 [50:59<3:54:02, 26.30s/it]
 41%|████      | 367/900 [51:00<2:45:02, 18.58s/it]
 41%|████      | 368/900 [51:00<1:56:45, 13.17s/it]
 41%|████      | 369/900 [55:44<13:53:34, 94.19s/it]
 41%|████      | 370/900 [55:44<9:43:47, 66.09s/it] 
 41%|████      | 371/900 [55:45<6:49:14, 46.42s/it]
 41%|████▏     | 372/900 [55:45<4:47:16, 32.65s/it]
 41%|████▏     | 373/900 [55:46<3:22:03, 23.01s/it]
 42%|████▏     | 374/900 [55:46<2:22:32, 16.26s/it]
 42%|████▏     | 375/900 [55:47<1:41:02, 11.55s/it]
 42%|████▏     | 376/900 [55:47<1:11:57,  8.24s/it]
 42%|████▏     | 377/900 [57:44<5:56:32, 40.90s/it]
 42%|████▏     | 378/900 [57:45<4:10:28, 28.79s/it]
 42%|████▏     | 379/900 [57:46<2:56:25, 20.32s/it]
 42%|████▏     | 380/900 [57:46<2:04:42, 14.39s/it]
 42%|████▏     | 381/900 [57:47<1:28:29, 10.23s/it]
 42%|████▏     | 382/900 [57:47<1:03:15,  7.33s/it]
 43%|████▎     | 383/900 [57:48<45:35,  5.29s/it]  
 43%|████▎     | 384/900 [57:48<33:16,  3.87s/it]
 43%|████▎     | 385/900 [59:20<4:19:44, 30.26s/it]
 43%|████▎     | 386/900 [59:21<3:02:53, 21.35s/it]
 43%|████▎     | 387/900 [59:21<2:09:08, 15.10s/it]
 43%|████▎     | 388/900 [59:22<1:31:40, 10.74s/it]
 43%|████▎     | 389/900 [59:22<1:05:27,  7.69s/it]
 43%|████▎     | 390/900 [59:23<47:08,  5.55s/it]  
 43%|████▎     | 391/900 [59:23<34:15,  4.04s/it]
 44%|████▎     | 392/900 [59:24<25:19,  2.99s/it]
 44%|████▎     | 393/900 [1:04:53<14:12:18, 100.86s/it]
 44%|████▍     | 394/900 [1:04:54<9:56:48, 70.77s/it]  
 44%|████▍     | 395/900 [1:04:54<6:58:18, 49.70s/it]
 44%|████▍     | 396/900 [1:04:55<4:53:34, 34.95s/it]
 44%|████▍     | 397/900 [1:04:55<3:26:25, 24.62s/it]
 44%|████▍     | 398/900 [1:04:56<2:25:33, 17.40s/it]
 44%|████▍     | 399/900 [1:04:56<1:43:02, 12.34s/it]
 44%|████▍     | 400/900 [1:04:57<1:13:18,  8.80s/it]
 45%|████▍     | 401/900 [1:07:36<7:28:36, 53.94s/it]
 45%|████▍     | 402/900 [1:07:37<5:14:43, 37.92s/it]
 45%|████▍     | 403/900 [1:07:37<3:41:12, 26.71s/it]
 45%|████▍     | 404/900 [1:07:38<2:35:53, 18.86s/it]
 45%|████▌     | 405/900 [1:07:38<1:50:16, 13.37s/it]
 45%|████▌     | 406/900 [1:07:39<1:18:23,  9.52s/it]
 45%|████▌     | 407/900 [1:07:39<56:09,  6.83s/it]  
 45%|████▌     | 408/900 [1:07:40<40:36,  4.95s/it]
 45%|████▌     | 409/900 [1:15:34<19:50:50, 145.52s/it]
 46%|████▌     | 410/900 [1:15:34<13:53:14, 102.03s/it]
 46%|████▌     | 411/900 [1:15:35<9:43:23, 71.58s/it]  
 46%|████▌     | 412/900 [1:15:35<6:48:47, 50.26s/it]
 46%|████▌     | 413/900 [1:15:36<4:46:50, 35.34s/it]
 46%|████▌     | 414/900 [1:15:36<3:21:45, 24.91s/it]
 46%|████▌     | 415/900 [1:15:37<2:22:16, 17.60s/it]
 46%|████▌     | 416/900 [1:15:37<1:40:41, 12.48s/it]
 46%|████▋     | 417/900 [1:18:46<8:46:40, 65.43s/it]
 46%|████▋     | 418/900 [1:18:47<6:09:15, 45.97s/it]
 47%|████▋     | 419/900 [1:18:47<4:19:14, 32.34s/it]
 47%|████▋     | 420/900 [1:18:48<3:02:22, 22.80s/it]
 47%|████▋     | 421/900 [1:18:48<2:08:42, 16.12s/it]
 47%|████▋     | 422/900 [1:18:49<1:31:08, 11.44s/it]
 47%|████▋     | 423/900 [1:18:49<1:04:56,  8.17s/it]
 47%|████▋     | 424/900 [1:18:50<46:38,  5.88s/it]  
 47%|████▋     | 425/900 [1:18:51<35:45,  4.52s/it]
 47%|████▋     | 426/900 [1:18:52<26:15,  3.32s/it]
 47%|████▋     | 427/900 [1:18:52<19:37,  2.49s/it]
 48%|████▊     | 428/900 [1:18:53<14:55,  1.90s/it]
 48%|████▊     | 429/900 [1:18:54<11:40,  1.49s/it]
 48%|████▊     | 430/900 [1:18:54<09:23,  1.20s/it]
 48%|████▊     | 431/900 [1:18:55<07:49,  1.00s/it]
 48%|████▊     | 432/900 [1:18:55<06:42,  1.16it/s]
 48%|████▊     | 433/900 [1:18:56<07:10,  1.08it/s]
 48%|████▊     | 434/900 [1:18:57<06:15,  1.24it/s]
 48%|████▊     | 435/900 [1:18:57<05:38,  1.37it/s]
 48%|████▊     | 436/900 [1:18:58<05:10,  1.49it/s]
 49%|████▊     | 437/900 [1:18:58<04:52,  1.58it/s]
 49%|████▊     | 438/900 [1:18:59<04:37,  1.67it/s]
 49%|████▉     | 439/900 [1:18:59<04:25,  1.73it/s]
 49%|████▉     | 440/900 [1:19:00<04:23,  1.74it/s]
 49%|████▉     | 441/900 [1:19:01<05:20,  1.43it/s]
 49%|████▉     | 442/900 [1:19:01<05:00,  1.53it/s]
 49%|████▉     | 443/900 [1:19:02<04:45,  1.60it/s]
 49%|████▉     | 444/900 [1:19:03<04:34,  1.66it/s]
 49%|████▉     | 445/900 [1:19:03<04:26,  1.71it/s]
 50%|████▉     | 446/900 [1:19:04<04:20,  1.74it/s]
 50%|████▉     | 447/900 [1:19:04<04:15,  1.77it/s]
 50%|████▉     | 448/900 [1:19:05<04:09,  1.81it/s]
 50%|████▉     | 449/900 [1:19:06<05:26,  1.38it/s]
 50%|█████     | 450/900 [1:19:06<05:01,  1.49it/s]
 50%|█████     | 451/900 [1:19:07<04:41,  1.60it/s]
 50%|█████     | 452/900 [1:19:07<04:30,  1.66it/s]
 50%|█████     | 453/900 [1:19:08<04:23,  1.69it/s]
 50%|█████     | 454/900 [1:19:09<04:17,  1.73it/s]
 51%|█████     | 455/900 [1:19:09<04:10,  1.78it/s]
 51%|█████     | 456/900 [1:19:10<04:08,  1.78it/s]
 51%|█████     | 457/900 [1:19:11<05:22,  1.38it/s]
 51%|█████     | 458/900 [1:19:11<05:01,  1.47it/s]
 51%|█████     | 459/900 [1:19:12<04:44,  1.55it/s]
 51%|█████     | 460/900 [1:19:12<04:32,  1.62it/s]
 51%|█████     | 461/900 [1:19:13<04:21,  1.68it/s]
 51%|█████▏    | 462/900 [1:19:14<04:14,  1.72it/s]
 51%|█████▏    | 463/900 [1:19:14<04:09,  1.75it/s]
 52%|█████▏    | 464/900 [1:19:15<04:05,  1.77it/s]
 52%|█████▏    | 465/900 [1:19:16<05:28,  1.32it/s]
 52%|█████▏    | 466/900 [1:19:16<05:00,  1.45it/s]
 52%|█████▏    | 467/900 [1:19:17<04:40,  1.54it/s]
 52%|█████▏    | 468/900 [1:19:18<04:26,  1.62it/s]
 52%|█████▏    | 469/900 [1:19:18<04:13,  1.70it/s]
 52%|█████▏    | 470/900 [1:19:19<04:07,  1.74it/s]
 52%|█████▏    | 471/900 [1:19:19<04:04,  1.76it/s]
 52%|█████▏    | 472/900 [1:19:20<04:00,  1.78it/s]
 53%|█████▎    | 473/900 [1:19:21<04:56,  1.44it/s]
 53%|█████▎    | 474/900 [1:19:21<04:35,  1.54it/s]
 53%|█████▎    | 475/900 [1:19:22<04:21,  1.63it/s]
 53%|█████▎    | 476/900 [1:19:22<04:12,  1.68it/s]
 53%|█████▎    | 477/900 [1:19:23<04:04,  1.73it/s]
 53%|█████▎    | 478/900 [1:19:23<03:59,  1.77it/s]
 53%|█████▎    | 479/900 [1:19:24<03:53,  1.80it/s]
 53%|█████▎    | 480/900 [1:19:24<03:52,  1.81it/s]
 53%|█████▎    | 481/900 [1:19:26<04:54,  1.42it/s]
 54%|█████▎    | 482/900 [1:19:26<04:34,  1.52it/s]
 54%|█████▎    | 483/900 [1:19:27<04:20,  1.60it/s]
 54%|█████▍    | 484/900 [1:19:27<04:09,  1.67it/s]
 54%|█████▍    | 485/900 [1:19:28<04:01,  1.72it/s]
 54%|█████▍    | 486/900 [1:19:28<03:56,  1.75it/s]
 54%|█████▍    | 487/900 [1:19:29<03:52,  1.77it/s]
 54%|█████▍    | 488/900 [1:19:29<03:50,  1.79it/s]
 54%|█████▍    | 489/900 [1:19:30<04:52,  1.41it/s]
 54%|█████▍    | 490/900 [1:19:31<04:31,  1.51it/s]
 55%|█████▍    | 491/900 [1:19:31<04:16,  1.60it/s]
 55%|█████▍    | 492/900 [1:19:32<04:04,  1.67it/s]
 55%|█████▍    | 493/900 [1:19:33<03:56,  1.72it/s]
 55%|█████▍    | 494/900 [1:19:33<03:52,  1.75it/s]
 55%|█████▌    | 495/900 [1:19:34<03:48,  1.77it/s]
 55%|█████▌    | 496/900 [1:19:34<03:46,  1.78it/s]
 55%|█████▌    | 497/900 [1:22:30<5:56:04, 53.01s/it]
 55%|█████▌    | 498/900 [1:22:30<4:09:43, 37.27s/it]
 55%|█████▌    | 499/900 [1:22:31<2:55:28, 26.26s/it]
 56%|█████▌    | 500/900 [1:22:32<2:04:33, 18.68s/it]
 56%|█████▌    | 501/900 [1:22:32<1:28:04, 13.24s/it]
 56%|█████▌    | 502/900 [1:22:33<1:02:35,  9.43s/it]
 56%|█████▌    | 503/900 [1:22:33<44:46,  6.77s/it]  
 56%|█████▌    | 504/900 [1:22:34<32:21,  4.90s/it]
 56%|█████▌    | 505/900 [1:22:35<24:48,  3.77s/it]
 56%|█████▌    | 506/900 [1:22:36<18:23,  2.80s/it]
 56%|█████▋    | 507/900 [1:22:36<13:54,  2.12s/it]
 56%|█████▋    | 508/900 [1:22:37<10:44,  1.64s/it]
 57%|█████▋    | 509/900 [1:22:37<08:35,  1.32s/it]
 57%|█████▋    | 510/900 [1:22:38<07:05,  1.09s/it]
 57%|█████▋    | 511/900 [1:22:38<06:01,  1.08it/s]
 57%|█████▋    | 512/900 [1:22:39<05:15,  1.23it/s]
 57%|█████▋    | 513/900 [1:22:40<05:49,  1.11it/s]
 57%|█████▋    | 514/900 [1:22:41<05:07,  1.25it/s]
 57%|█████▋    | 515/900 [1:22:41<04:38,  1.38it/s]
 57%|█████▋    | 516/900 [1:22:42<04:17,  1.49it/s]
 57%|█████▋    | 517/900 [1:22:42<04:00,  1.59it/s]
 58%|█████▊    | 518/900 [1:22:43<03:51,  1.65it/s]
 58%|█████▊    | 519/900 [1:22:43<03:41,  1.72it/s]
 58%|█████▊    | 520/900 [1:22:44<03:36,  1.75it/s]
 58%|█████▊    | 521/900 [1:22:45<04:31,  1.40it/s]
 58%|█████▊    | 522/900 [1:22:45<04:08,  1.52it/s]
 58%|█████▊    | 523/900 [1:22:46<03:56,  1.59it/s]
 58%|█████▊    | 524/900 [1:22:46<03:47,  1.66it/s]
 58%|█████▊    | 525/900 [1:22:47<03:39,  1.70it/s]
 58%|█████▊    | 526/900 [1:22:48<03:34,  1.74it/s]
 59%|█████▊    | 527/900 [1:22:48<03:28,  1.79it/s]
 59%|█████▊    | 528/900 [1:22:49<03:27,  1.80it/s]
 59%|█████▉    | 529/900 [1:22:50<04:25,  1.39it/s]
 59%|█████▉    | 530/900 [1:22:50<04:07,  1.50it/s]
 59%|█████▉    | 531/900 [1:22:51<03:51,  1.59it/s]
 59%|█████▉    | 532/900 [1:22:51<03:45,  1.63it/s]
 59%|█████▉    | 533/900 [1:22:52<03:39,  1.67it/s]
 59%|█████▉    | 534/900 [1:22:53<03:37,  1.69it/s]
 59%|█████▉    | 535/900 [1:22:53<03:33,  1.71it/s]
 60%|█████▉    | 536/900 [1:22:54<03:29,  1.74it/s]
 60%|█████▉    | 537/900 [1:22:55<04:25,  1.37it/s]
 60%|█████▉    | 538/900 [1:22:55<04:02,  1.49it/s]
 60%|█████▉    | 539/900 [1:22:56<03:50,  1.57it/s]
 60%|██████    | 540/900 [1:22:56<03:41,  1.63it/s]
 60%|██████    | 541/900 [1:22:57<03:35,  1.67it/s]
 60%|██████    | 542/900 [1:22:58<03:29,  1.71it/s]
 60%|██████    | 543/900 [1:22:58<03:26,  1.73it/s]
 60%|██████    | 544/900 [1:22:59<03:20,  1.77it/s]
 61%|██████    | 545/900 [1:23:00<04:25,  1.34it/s]
 61%|██████    | 546/900 [1:23:00<04:03,  1.45it/s]
 61%|██████    | 547/900 [1:23:01<03:45,  1.57it/s]
 61%|██████    | 548/900 [1:23:01<03:33,  1.65it/s]
 61%|██████    | 549/900 [1:23:02<03:32,  1.66it/s]
 61%|██████    | 550/900 [1:23:03<03:23,  1.72it/s]
 61%|██████    | 551/900 [1:23:03<03:21,  1.73it/s]
 61%|██████▏   | 552/900 [1:23:04<03:19,  1.74it/s]
 61%|██████▏   | 553/900 [1:23:05<04:09,  1.39it/s]
 62%|██████▏   | 554/900 [1:23:05<03:49,  1.51it/s]
 62%|██████▏   | 555/900 [1:23:06<03:34,  1.61it/s]
 62%|██████▏   | 556/900 [1:23:06<03:23,  1.69it/s]
 62%|██████▏   | 557/900 [1:23:07<03:16,  1.74it/s]
 62%|██████▏   | 558/900 [1:23:07<03:13,  1.77it/s]
 62%|██████▏   | 559/900 [1:23:08<03:09,  1.80it/s]
 62%|██████▏   | 560/900 [1:23:08<03:08,  1.81it/s]
 62%|██████▏   | 561/900 [1:23:10<03:58,  1.42it/s]
 62%|██████▏   | 562/900 [1:23:10<03:40,  1.53it/s]
 63%|██████▎   | 563/900 [1:23:11<03:30,  1.60it/s]
 63%|██████▎   | 564/900 [1:23:11<03:19,  1.68it/s]
 63%|██████▎   | 565/900 [1:23:12<03:13,  1.73it/s]
 63%|██████▎   | 566/900 [1:23:12<03:06,  1.79it/s]
 63%|██████▎   | 567/900 [1:23:13<03:04,  1.81it/s]
 63%|██████▎   | 568/900 [1:23:13<03:03,  1.81it/s]
 63%|██████▎   | 569/900 [1:23:14<03:55,  1.40it/s]
 63%|██████▎   | 570/900 [1:23:15<03:39,  1.51it/s]
 63%|██████▎   | 571/900 [1:23:15<03:26,  1.59it/s]
 64%|██████▎   | 572/900 [1:23:16<03:18,  1.65it/s]
 64%|██████▎   | 573/900 [1:23:17<03:13,  1.69it/s]
 64%|██████▍   | 574/900 [1:23:17<03:05,  1.75it/s]
 64%|██████▍   | 575/900 [1:23:18<03:04,  1.76it/s]
 64%|██████▍   | 576/900 [1:23:18<02:59,  1.80it/s]
 64%|██████▍   | 577/900 [1:26:53<5:49:37, 64.95s/it]
 64%|██████▍   | 578/900 [1:26:54<4:04:50, 45.62s/it]
 64%|██████▍   | 579/900 [1:26:54<2:51:46, 32.11s/it]
 64%|██████▍   | 580/900 [1:26:55<2:00:44, 22.64s/it]
 65%|██████▍   | 581/900 [1:26:56<1:25:05, 16.01s/it]
 65%|██████▍   | 582/900 [1:26:56<1:00:15, 11.37s/it]
 65%|██████▍   | 583/900 [1:26:57<42:55,  8.13s/it]  
 65%|██████▍   | 584/900 [1:26:57<30:47,  5.85s/it]
 65%|██████▌   | 585/900 [1:26:58<23:04,  4.39s/it]
 65%|██████▌   | 586/900 [1:26:59<16:58,  3.24s/it]
 65%|██████▌   | 587/900 [1:26:59<12:42,  2.44s/it]
 65%|██████▌   | 588/900 [1:27:00<09:43,  1.87s/it]
 65%|██████▌   | 589/900 [1:27:00<07:37,  1.47s/it]
 66%|██████▌   | 590/900 [1:27:01<06:09,  1.19s/it]
 66%|██████▌   | 591/900 [1:27:01<05:08,  1.00it/s]
 66%|██████▌   | 592/900 [1:27:02<04:25,  1.16it/s]
 66%|██████▌   | 593/900 [1:27:03<04:42,  1.09it/s]
 66%|██████▌   | 594/900 [1:27:04<04:07,  1.24it/s]
 66%|██████▌   | 595/900 [1:27:04<03:41,  1.37it/s]
 66%|██████▌   | 596/900 [1:27:05<03:21,  1.51it/s]
 66%|██████▋   | 597/900 [1:27:05<03:08,  1.60it/s]
 66%|██████▋   | 598/900 [1:27:06<02:59,  1.69it/s]
 67%|██████▋   | 599/900 [1:27:06<02:53,  1.74it/s]
 67%|██████▋   | 600/900 [1:27:07<02:51,  1.75it/s]
 67%|██████▋   | 601/900 [1:27:08<03:34,  1.39it/s]
 67%|██████▋   | 602/900 [1:27:08<03:17,  1.51it/s]
 67%|██████▋   | 603/900 [1:27:09<03:07,  1.58it/s]
 67%|██████▋   | 604/900 [1:27:10<02:59,  1.65it/s]
 67%|██████▋   | 605/900 [1:27:10<02:54,  1.69it/s]
 67%|██████▋   | 606/900 [1:27:11<02:50,  1.72it/s]
 67%|██████▋   | 607/900 [1:27:11<02:47,  1.75it/s]
 68%|██████▊   | 608/900 [1:27:12<02:44,  1.78it/s]
 68%|██████▊   | 609/900 [1:27:13<03:26,  1.41it/s]
 68%|██████▊   | 610/900 [1:27:13<03:11,  1.52it/s]
 68%|██████▊   | 611/900 [1:27:14<03:00,  1.60it/s]
 68%|██████▊   | 612/900 [1:27:14<02:52,  1.67it/s]
 68%|██████▊   | 613/900 [1:27:15<02:44,  1.74it/s]
 68%|██████▊   | 614/900 [1:27:15<02:40,  1.78it/s]
 68%|██████▊   | 615/900 [1:27:16<02:38,  1.80it/s]
 68%|██████▊   | 616/900 [1:27:17<02:36,  1.81it/s]
 69%|██████▊   | 617/900 [1:27:18<03:25,  1.38it/s]
 69%|██████▊   | 618/900 [1:27:18<03:08,  1.50it/s]
 69%|██████▉   | 619/900 [1:27:19<02:57,  1.59it/s]
 69%|██████▉   | 620/900 [1:27:19<02:48,  1.66it/s]
 69%|██████▉   | 621/900 [1:27:20<02:43,  1.70it/s]
 69%|██████▉   | 622/900 [1:27:20<02:38,  1.75it/s]
 69%|██████▉   | 623/900 [1:27:21<02:36,  1.77it/s]
 69%|██████▉   | 624/900 [1:27:21<02:32,  1.81it/s]
 69%|██████▉   | 625/900 [1:27:23<03:20,  1.37it/s]
 70%|██████▉   | 626/900 [1:27:23<03:03,  1.49it/s]
 70%|██████▉   | 627/900 [1:27:24<02:52,  1.58it/s]
 70%|██████▉   | 628/900 [1:27:24<02:44,  1.65it/s]
 70%|██████▉   | 629/900 [1:27:25<02:38,  1.71it/s]
 70%|███████   | 630/900 [1:27:25<02:33,  1.75it/s]
 70%|███████   | 631/900 [1:27:26<02:31,  1.77it/s]
 70%|███████   | 632/900 [1:27:26<02:28,  1.80it/s]
 70%|███████   | 633/900 [1:27:27<03:10,  1.40it/s]
 70%|███████   | 634/900 [1:27:28<02:55,  1.52it/s]
 71%|███████   | 635/900 [1:27:29<02:47,  1.58it/s]
 71%|███████   | 636/900 [1:27:29<02:43,  1.62it/s]
 71%|███████   | 637/900 [1:27:30<02:40,  1.64it/s]
 71%|███████   | 638/900 [1:27:30<02:34,  1.69it/s]
 71%|███████   | 639/900 [1:27:31<02:29,  1.75it/s]
 71%|███████   | 640/900 [1:27:31<02:27,  1.76it/s]
 71%|███████   | 641/900 [1:27:32<03:08,  1.38it/s]
 71%|███████▏  | 642/900 [1:27:33<02:51,  1.50it/s]
 71%|███████▏  | 643/900 [1:27:34<02:42,  1.58it/s]
 72%|███████▏  | 644/900 [1:27:34<02:34,  1.66it/s]
 72%|███████▏  | 645/900 [1:27:35<02:28,  1.72it/s]
 72%|███████▏  | 646/900 [1:27:35<02:23,  1.77it/s]
 72%|███████▏  | 647/900 [1:27:36<02:20,  1.80it/s]
 72%|███████▏  | 648/900 [1:27:36<02:21,  1.78it/s]
 72%|███████▏  | 649/900 [1:27:37<03:05,  1.35it/s]
 72%|███████▏  | 650/900 [1:27:38<02:50,  1.47it/s]
 72%|███████▏  | 651/900 [1:27:38<02:39,  1.56it/s]
 72%|███████▏  | 652/900 [1:27:39<02:32,  1.63it/s]
 73%|███████▎  | 653/900 [1:27:40<02:26,  1.69it/s]
 73%|███████▎  | 654/900 [1:27:40<02:23,  1.71it/s]
 73%|███████▎  | 655/900 [1:27:41<02:21,  1.73it/s]
 73%|███████▎  | 656/900 [1:27:41<02:20,  1.73it/s]
 73%|███████▎  | 657/900 [1:46:12<22:31:10, 333.62s/it]
 73%|███████▎  | 658/900 [1:46:13<15:42:35, 233.70s/it]
 73%|███████▎  | 659/900 [1:46:13<10:57:43, 163.75s/it]
 73%|███████▎  | 660/900 [1:46:14<7:39:06, 114.78s/it] 
 73%|███████▎  | 661/900 [1:46:14<5:20:40, 80.51s/it] 
 74%|███████▎  | 662/900 [1:46:15<3:44:11, 56.52s/it]
 74%|███████▎  | 663/900 [1:46:15<2:36:53, 39.72s/it]
 74%|███████▍  | 664/900 [1:46:16<1:49:59, 27.96s/it]
 74%|███████▍  | 665/900 [1:46:17<1:17:54, 19.89s/it]
 74%|███████▍  | 666/900 [1:46:17<54:54, 14.08s/it]  
 74%|███████▍  | 667/900 [1:46:18<38:53, 10.01s/it]
 74%|███████▍  | 668/900 [1:46:18<27:44,  7.17s/it]
 74%|███████▍  | 669/900 [1:46:19<19:59,  5.19s/it]
 74%|███████▍  | 670/900 [1:46:19<14:31,  3.79s/it]
 75%|███████▍  | 671/900 [1:46:20<10:43,  2.81s/it]
 75%|███████▍  | 672/900 [1:46:21<08:03,  2.12s/it]
 75%|███████▍  | 673/900 [1:46:22<06:46,  1.79s/it]
 75%|███████▍  | 674/900 [1:46:22<05:18,  1.41s/it]
 75%|███████▌  | 675/900 [1:46:23<04:17,  1.14s/it]
 75%|███████▌  | 676/900 [1:46:23<03:34,  1.05it/s]
 75%|███████▌  | 677/900 [1:46:24<03:05,  1.20it/s]
 75%|███████▌  | 678/900 [1:46:24<02:44,  1.35it/s]
 75%|███████▌  | 679/900 [1:46:25<02:28,  1.48it/s]
 76%|███████▌  | 680/900 [1:46:25<02:18,  1.59it/s]
 76%|███████▌  | 681/900 [1:46:26<02:45,  1.32it/s]
 76%|███████▌  | 682/900 [1:46:27<02:31,  1.44it/s]
 76%|███████▌  | 683/900 [1:46:27<02:22,  1.53it/s]
 76%|███████▌  | 684/900 [1:46:28<02:12,  1.63it/s]
 76%|███████▌  | 685/900 [1:46:28<02:05,  1.72it/s]
 76%|███████▌  | 686/900 [1:46:29<02:03,  1.73it/s]
 76%|███████▋  | 687/900 [1:46:29<02:00,  1.76it/s]
 76%|███████▋  | 688/900 [1:46:30<01:57,  1.80it/s]
 77%|███████▋  | 689/900 [1:46:31<02:33,  1.37it/s]
 77%|███████▋  | 690/900 [1:46:32<02:20,  1.50it/s]
 77%|███████▋  | 691/900 [1:46:32<02:10,  1.60it/s]
 77%|███████▋  | 692/900 [1:46:33<02:04,  1.67it/s]
 77%|███████▋  | 693/900 [1:46:33<01:59,  1.74it/s]
 77%|███████▋  | 694/900 [1:46:34<01:56,  1.77it/s]
 77%|███████▋  | 695/900 [1:46:34<01:55,  1.78it/s]
 77%|███████▋  | 696/900 [1:46:35<01:52,  1.81it/s]
 77%|███████▋  | 697/900 [1:46:36<02:26,  1.39it/s]
 78%|███████▊  | 698/900 [1:46:37<02:16,  1.48it/s]
 78%|███████▊  | 699/900 [1:46:37<02:08,  1.57it/s]
 78%|███████▊  | 700/900 [1:46:38<02:00,  1.65it/s]
 78%|███████▊  | 701/900 [1:46:38<01:58,  1.68it/s]
 78%|███████▊  | 702/900 [1:46:39<01:56,  1.70it/s]
 78%|███████▊  | 703/900 [1:46:39<01:52,  1.75it/s]
 78%|███████▊  | 704/900 [1:46:40<01:50,  1.78it/s]
 78%|███████▊  | 705/900 [1:46:41<02:17,  1.42it/s]
 78%|███████▊  | 706/900 [1:46:41<02:08,  1.51it/s]
 79%|███████▊  | 707/900 [1:46:42<02:01,  1.59it/s]
 79%|███████▊  | 708/900 [1:46:43<01:54,  1.67it/s]
 79%|███████▉  | 709/900 [1:46:43<01:49,  1.75it/s]
 79%|███████▉  | 710/900 [1:46:44<01:45,  1.80it/s]
 79%|███████▉  | 711/900 [1:46:44<01:44,  1.80it/s]
 79%|███████▉  | 712/900 [1:46:45<01:42,  1.83it/s]
 79%|███████▉  | 713/900 [1:46:46<02:09,  1.44it/s]
 79%|███████▉  | 714/900 [1:46:46<01:59,  1.55it/s]
 79%|███████▉  | 715/900 [1:46:47<01:54,  1.62it/s]
 80%|███████▉  | 716/900 [1:46:47<01:48,  1.69it/s]
 80%|███████▉  | 717/900 [1:46:48<01:44,  1.75it/s]
 80%|███████▉  | 718/900 [1:46:48<01:41,  1.79it/s]
 80%|███████▉  | 719/900 [1:46:49<01:41,  1.78it/s]
 80%|████████  | 720/900 [1:46:49<01:39,  1.80it/s]
 80%|████████  | 721/900 [1:46:51<02:07,  1.41it/s]
 80%|████████  | 722/900 [1:46:51<01:57,  1.52it/s]
 80%|████████  | 723/900 [1:46:52<01:50,  1.60it/s]
 80%|████████  | 724/900 [1:46:52<01:43,  1.70it/s]
 81%|████████  | 725/900 [1:46:53<01:41,  1.73it/s]
 81%|████████  | 726/900 [1:46:53<01:37,  1.78it/s]
 81%|████████  | 727/900 [1:46:54<01:35,  1.81it/s]
 81%|████████  | 728/900 [1:46:54<01:33,  1.83it/s]
 81%|████████  | 729/900 [1:46:56<02:22,  1.20it/s]
 81%|████████  | 730/900 [1:46:56<02:06,  1.34it/s]
 81%|████████  | 731/900 [1:46:57<01:54,  1.47it/s]
 81%|████████▏ | 732/900 [1:46:57<01:45,  1.59it/s]
 81%|████████▏ | 733/900 [1:46:58<01:39,  1.67it/s]
 82%|████████▏ | 734/900 [1:46:58<01:37,  1.70it/s]
 82%|████████▏ | 735/900 [1:46:59<01:33,  1.76it/s]
 82%|████████▏ | 736/900 [1:46:59<01:29,  1.83it/s]
 82%|████████▏ | 736/900 [2:17:01<30:31, 11.17s/it]
+2026-11-02T07:20:33Z [24,020,350ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-02T07:20:37Z] GPU 6: SpoonInMugTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-02T07:21:07Z] GPU 6: Starting worker at SpoonInMugTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261102_072112.log
+2026-11-02T07:21:12Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-02T07:21:12Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-02T07:21:12Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-02T07:21:12Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-02T07:21:12Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-02T07:21:12Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-02T07:21:12Z [28ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-02T07:21:12Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-02T07:21:12Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-02T07:21:12Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-02T07:21:12Z [42ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-02T07:21:12Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-02T07:21:12Z [49ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-02T07:21:12Z [51ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-02T07:21:12Z [54ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-02T07:21:12Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-02T07:21:12Z [60ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-02T07:21:17Z [4,494ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T07:21:17Z [4,495ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T07:21:17Z [4,586ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-02T07:21:17Z [5,276ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T07:21:17Z [5,277ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T07:21:17Z [5,278ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 867276
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-02T07:21:20Z [7,639ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-02T07:21:20Z [7,639ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 909.85  17.27  17.91  16.55  19.23  17.81  18.53  17.86 
+     1  19.23 921.83  19.14  18.74  19.80  19.63  19.66  18.59 
+     2  18.47  18.34 918.58  17.57  19.22  19.08  17.94  18.67 
+     3  17.54  18.40  18.98 917.50  19.11  19.78  19.56  19.57 
+     4  21.97  22.30  20.68  22.31 919.42  22.10  22.17  21.48 
+     5  17.79  22.12  20.65  22.40  22.23 919.66  21.26  22.09 
+     6  20.48  22.42  20.56  22.50  22.31  22.22 920.91  20.06 
+     7  19.96  22.12  20.74  22.06  22.23  18.00  22.14 920.05 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.53  11.92  74.63  15.79  12.15  11.79  11.58  12.69 
+     1  12.49   1.47  11.57  11.75  11.79  14.39  12.16  11.46 
+     2  14.61  14.41   1.46  13.96  13.26  14.37  18.79  14.63 
+     3  20.15  16.09  12.19   1.32  13.31  12.57  12.95  13.94 
+     4  16.39  13.33  12.99  13.89   1.37  13.78  18.07  14.34 
+     5  12.79  16.46  14.06  16.83  15.72   1.46  12.35  14.00 
+     6  13.13  12.28  13.35  12.97  11.52  15.17   1.38  17.65 
+     7  11.68  11.93  11.25  20.09  11.28  11.56  11.53   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.36  10.42  10.66  10.78   8.82   8.22   8.29   8.04 
+     1  10.07   2.91   9.79   9.49   8.00   8.25   8.13   8.06 
+     2  10.13   9.82   2.93   9.73   8.53   7.95   7.93   8.23 
+     3  10.05  11.28  10.52   2.89   8.12   8.14   7.83   7.71 
+     4   8.76   8.47   8.49   8.79   3.56   6.88   6.83   6.74 
+     5   8.47   8.23   8.42   8.35   6.83   2.24   6.89   6.73 
+     6   8.64   8.52   8.85   8.61   7.15   6.72   2.33   6.95 
+     7  10.68   7.52   7.62   7.45   6.86   6.90   9.24   4.16 
+2026-11-02T07:21:23Z [10,383ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.5 GB/s.
+2026-11-02T07:21:23Z [10,383ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 74.6 us.
+2026-11-02T07:21:23Z [10,383ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-02T07:21:26Z [13,848ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T07:21:26Z [13,849ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T07:21:26Z [13,942ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T07:21:26Z [13,942ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T07:21:26Z [13,952ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T07:21:26Z [13,952ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T07:21:26Z [14,167ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T07:21:26Z [14,167ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T07:21:26Z [14,172ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T07:21:26Z [14,173ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T07:21:26Z [14,178ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T07:21:26Z [14,178ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T07:21:27Z [15,186ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-02T07:21:31Z [18,970ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-02T07:21:43Z [30,557ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-02T07:21:44Z [31,685ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-02T07:21:59Z [46,805ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-02T07:21:59Z [46,807ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-02T07:21:59Z [47,301ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-02T07:22:03Z [50,488ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T07:22:03Z [50,490ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T07:22:03Z [50,492ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T07:22:03Z [50,507ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-02T07:22:03Z [50,519ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T07:22:03Z [50,519ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-02T07:22:18Z [65,335ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55afffb6f450>)
+
+2026-11-02T07:22:18Z [65,336ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55afffb6f450>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T07:22:26Z [73,536ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.352042 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T07:22:33Z [80,472ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T07:22:33Z [80,473ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T07:22:33Z [80,545ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T07:22:33Z [80,545ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T07:22:33Z [80,553ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T07:22:33Z [80,561ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T07:22:33Z [80,802ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T07:22:33Z [80,825ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T07:22:36Z [84,208ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-02T07:22:36Z [84,209ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-02T07:22:36Z [84,209ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-02T07:22:37Z [85,307ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-02T07:22:37Z [85,307ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-02T07:22:38Z [85,391ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-02T07:22:38Z [85,391ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-02T07:22:38Z [85,421ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-02T07:22:38Z [85,421ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-02T07:22:38Z [85,445ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-02T07:22:38Z [85,446ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-02T07:22:38Z [85,451ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-02T07:22:38Z [85,451ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-02T07:22:38Z [85,461ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((171))' not available in the MDL representation.
+2026-11-02T07:22:38Z [85,461ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((171))' not available in the MDL representation.
+2026-11-02T07:22:39Z [86,725ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((200))' not available in the MDL representation.
+2026-11-02T07:22:39Z [86,726ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((200))' not available in the MDL representation.
+2026-11-02T07:22:39Z [86,749ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((208))' not available in the MDL representation.
+2026-11-02T07:22:39Z [86,749ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((208))' not available in the MDL representation.
+2026-11-02T07:22:39Z [86,797ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((227))' not available in the MDL representation.
+2026-11-02T07:22:39Z [86,797ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((227))' not available in the MDL representation.
+2026-11-02T07:22:39Z [86,830ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((247))' not available in the MDL representation.
+2026-11-02T07:22:39Z [86,830ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((247))' not available in the MDL representation.
+2026-11-02T07:22:39Z [86,842ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-11-02T07:22:39Z [86,843ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,505ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-02T07:22:40Z [87,786ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,786ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,787ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,789ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,789ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,789ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,790ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,790ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,791ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,791ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,792ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,792ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,792ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,793ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((171))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,793ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((171))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,795ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((200))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,795ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((200))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,796ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((208))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,796ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((208))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,797ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((227))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,798ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((227))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,799ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((247))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,799ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((247))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,800ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-11-02T07:22:40Z [87,800ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.011269 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SpoonInMugTask                                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the metal spoon that's in the wooden bowl in the mug │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SpoonInMugTaskSceneEnvCfg                     │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `SpoonInMugTask` run `0` already done. Skipping.
+[RoboLab] Running SpoonInMugTask_1: 'Put the metal spoon that's in the wooden bowl in the mug' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:49<12:24:58, 49.72s/it]
  0%|          | 2/900 [00:50<5:10:48, 20.77s/it] 
  0%|          | 3/900 [00:50<2:51:59, 11.50s/it]
  0%|          | 4/900 [00:51<1:46:58,  7.16s/it]
  1%|          | 5/900 [00:51<1:10:55,  4.75s/it]
  1%|          | 6/900 [00:52<49:13,  3.30s/it]  
  1%|          | 7/900 [00:52<35:27,  2.38s/it]
  1%|          | 8/900 [00:53<26:24,  1.78s/it]
  1%|          | 9/900 [01:19<2:22:04,  9.57s/it]
  1%|          | 10/900 [01:20<1:40:17,  6.76s/it]
  1%|          | 11/900 [01:20<1:11:42,  4.84s/it]
  1%|▏         | 12/900 [01:21<52:03,  3.52s/it]  
  1%|▏         | 13/900 [01:21<38:36,  2.61s/it]
  2%|▏         | 14/900 [01:22<29:11,  1.98s/it]
  2%|▏         | 15/900 [01:22<22:34,  1.53s/it]
  2%|▏         | 16/900 [01:23<17:55,  1.22s/it]
  2%|▏         | 17/900 [01:40<1:30:37,  6.16s/it]
  2%|▏         | 18/900 [01:41<1:05:34,  4.46s/it]
  2%|▏         | 19/900 [01:41<48:02,  3.27s/it]  
  2%|▏         | 20/900 [01:42<35:50,  2.44s/it]
  2%|▏         | 21/900 [01:43<27:18,  1.86s/it]
  2%|▏         | 22/900 [01:43<21:13,  1.45s/it]
  3%|▎         | 23/900 [01:44<17:05,  1.17s/it]
  3%|▎         | 24/900 [01:44<14:10,  1.03it/s]
  3%|▎         | 25/900 [02:07<1:51:28,  7.64s/it]
  3%|▎         | 26/900 [02:08<1:20:03,  5.50s/it]
  3%|▎         | 27/900 [02:08<58:05,  3.99s/it]  2026-11-02T07:24:50Z [218,308ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  3%|▎         | 28/900 [02:09<42:44,  2.94s/it]
  3%|▎         | 29/900 [02:09<32:00,  2.20s/it]
  3%|▎         | 30/900 [02:10<24:33,  1.69s/it]
  3%|▎         | 31/900 [02:10<19:14,  1.33s/it]
  4%|▎         | 32/900 [02:11<15:33,  1.08s/it]
  4%|▎         | 33/900 [02:22<59:23,  4.11s/it]
  4%|▍         | 34/900 [02:22<43:37,  3.02s/it]
  4%|▍         | 35/900 [02:23<32:37,  2.26s/it]
  4%|▍         | 36/900 [02:23<24:54,  1.73s/it]
  4%|▍         | 37/900 [02:24<19:32,  1.36s/it]
  4%|▍         | 38/900 [02:24<15:53,  1.11s/it]
  4%|▍         | 39/900 [02:25<13:19,  1.08it/s]
  4%|▍         | 40/900 [02:25<11:27,  1.25it/s]
  5%|▍         | 41/900 [02:52<2:02:41,  8.57s/it]
  5%|▍         | 42/900 [02:52<1:27:50,  6.14s/it]
  5%|▍         | 43/900 [02:53<1:03:30,  4.45s/it]
  5%|▍         | 44/900 [02:53<46:26,  3.26s/it]  
  5%|▌         | 45/900 [02:54<34:30,  2.42s/it]
  5%|▌         | 46/900 [02:54<26:12,  1.84s/it]
  5%|▌         | 47/900 [02:55<20:29,  1.44s/it]
  5%|▌         | 48/900 [02:55<16:27,  1.16s/it]
  5%|▌         | 49/900 [03:09<1:08:51,  4.85s/it]
  6%|▌         | 50/900 [03:09<50:17,  3.55s/it]  
  6%|▌         | 51/900 [03:10<37:21,  2.64s/it]
  6%|▌         | 52/900 [03:10<28:18,  2.00s/it]
  6%|▌         | 53/900 [03:11<22:00,  1.56s/it]
  6%|▌         | 54/900 [03:11<17:33,  1.25s/it]
  6%|▌         | 55/900 [03:12<14:25,  1.02s/it]
  6%|▌         | 56/900 [03:12<12:14,  1.15it/s]
  6%|▋         | 57/900 [03:32<1:30:05,  6.41s/it]
  6%|▋         | 58/900 [03:32<1:05:09,  4.64s/it]
  7%|▋         | 59/900 [03:33<47:43,  3.41s/it]  
  7%|▋         | 60/900 [03:33<35:33,  2.54s/it]
  7%|▋         | 61/900 [03:34<27:01,  1.93s/it]
  7%|▋         | 62/900 [03:34<21:04,  1.51s/it]
  7%|▋         | 63/900 [03:35<16:55,  1.21s/it]
  7%|▋         | 64/900 [03:35<14:00,  1.01s/it]
  7%|▋         | 65/900 [04:09<2:30:48, 10.84s/it]
  7%|▋         | 66/900 [04:10<1:47:37,  7.74s/it]
  7%|▋         | 67/900 [04:10<1:17:24,  5.58s/it]
  8%|▊         | 68/900 [04:11<56:19,  4.06s/it]  
  8%|▊         | 69/900 [04:11<41:34,  3.00s/it]
  8%|▊         | 70/900 [04:12<31:14,  2.26s/it]
  8%|▊         | 71/900 [04:12<23:59,  1.74s/it]
  8%|▊         | 72/900 [04:13<18:55,  1.37s/it]
  8%|▊         | 73/900 [05:45<6:35:15, 28.68s/it]
  8%|▊         | 74/900 [05:46<4:38:33, 20.23s/it]
  8%|▊         | 75/900 [05:46<3:16:58, 14.33s/it]
  8%|▊         | 76/900 [05:47<2:19:54, 10.19s/it]
  9%|▊         | 77/900 [05:47<1:39:59,  7.29s/it]
  9%|▊         | 78/900 [05:48<1:12:01,  5.26s/it]
  9%|▉         | 79/900 [05:48<52:30,  3.84s/it]  
  9%|▉         | 80/900 [05:49<38:52,  2.84s/it]
  9%|▉         | 81/900 [06:10<1:53:09,  8.29s/it]
  9%|▉         | 82/900 [06:11<1:21:14,  5.96s/it]
  9%|▉         | 83/900 [06:11<58:54,  4.33s/it]  
  9%|▉         | 84/900 [06:12<43:17,  3.18s/it]
  9%|▉         | 85/900 [06:12<32:23,  2.38s/it]
 10%|▉         | 86/900 [06:13<24:45,  1.82s/it]
 10%|▉         | 87/900 [06:13<19:26,  1.43s/it]
 10%|▉         | 88/900 [06:14<15:41,  1.16s/it]
 10%|▉         | 89/900 [06:39<1:55:05,  8.52s/it]
 10%|█         | 90/900 [06:40<1:22:34,  6.12s/it]
 10%|█         | 91/900 [06:40<59:50,  4.44s/it]  
 10%|█         | 92/900 [06:41<44:01,  3.27s/it]
 10%|█         | 93/900 [06:41<32:53,  2.44s/it]
 10%|█         | 94/900 [06:42<25:09,  1.87s/it]
 11%|█         | 95/900 [06:42<19:44,  1.47s/it]
 11%|█         | 96/900 [06:43<15:59,  1.19s/it]
 11%|█         | 97/900 [08:03<5:31:25, 24.76s/it]
 11%|█         | 98/900 [08:03<3:53:48, 17.49s/it]
 11%|█         | 99/900 [08:04<2:45:32, 12.40s/it]
 11%|█         | 100/900 [08:04<1:57:49,  8.84s/it]
 11%|█         | 101/900 [08:05<1:24:26,  6.34s/it]
 11%|█▏        | 102/900 [08:05<1:01:07,  4.60s/it]
 11%|█▏        | 103/900 [08:06<44:48,  3.37s/it]  
 12%|█▏        | 104/900 [08:06<33:23,  2.52s/it]
 12%|█▏        | 105/900 [09:17<5:02:51, 22.86s/it]
 12%|█▏        | 106/900 [09:17<3:33:49, 16.16s/it]
 12%|█▏        | 107/900 [09:18<2:31:34, 11.47s/it]
 12%|█▏        | 108/900 [09:18<1:48:01,  8.18s/it]
 12%|█▏        | 109/900 [09:19<1:17:33,  5.88s/it]
 12%|█▏        | 110/900 [09:19<56:16,  4.27s/it]  
 12%|█▏        | 111/900 [09:20<41:23,  3.15s/it]
 12%|█▏        | 112/900 [09:20<30:59,  2.36s/it]
 13%|█▎        | 113/900 [10:51<6:17:55, 28.81s/it]
 13%|█▎        | 114/900 [10:51<4:26:08, 20.32s/it]
 13%|█▎        | 115/900 [10:52<3:07:59, 14.37s/it]
 13%|█▎        | 116/900 [10:52<2:13:26, 10.21s/it]
 13%|█▎        | 117/900 [10:53<1:35:12,  7.30s/it]
 13%|█▎        | 118/900 [10:53<1:08:27,  5.25s/it]
 13%|█▎        | 119/900 [10:54<49:44,  3.82s/it]  
 13%|█▎        | 120/900 [10:54<36:39,  2.82s/it]
 13%|█▎        | 121/900 [13:58<12:20:32, 57.04s/it]
 14%|█▎        | 122/900 [13:58<8:39:37, 40.07s/it] 
 14%|█▎        | 123/900 [13:59<6:05:13, 28.20s/it]
 14%|█▍        | 124/900 [13:59<4:17:12, 19.89s/it]
 14%|█▍        | 125/900 [14:00<3:01:41, 14.07s/it]
 14%|█▍        | 126/900 [14:00<2:08:53,  9.99s/it]
 14%|█▍        | 127/900 [14:01<1:31:57,  7.14s/it]
 14%|█▍        | 128/900 [14:01<1:06:08,  5.14s/it]
 14%|█▍        | 129/900 [16:01<8:27:44, 39.51s/it]
 14%|█▍        | 130/900 [16:02<5:56:51, 27.81s/it]
 15%|█▍        | 131/900 [16:02<4:11:21, 19.61s/it]
 15%|█▍        | 132/900 [16:03<2:57:34, 13.87s/it]
 15%|█▍        | 133/900 [16:03<2:05:59,  9.86s/it]
 15%|█▍        | 134/900 [16:03<1:29:55,  7.04s/it]
 15%|█▌        | 135/900 [16:04<1:04:42,  5.08s/it]
 15%|█▌        | 136/900 [16:04<47:05,  3.70s/it]  
 15%|█▌        | 137/900 [17:47<7:03:11, 33.28s/it]
 15%|█▌        | 138/900 [17:47<4:57:43, 23.44s/it]
 15%|█▌        | 139/900 [17:48<3:30:09, 16.57s/it]
 16%|█▌        | 140/900 [17:48<2:28:48, 11.75s/it]
 16%|█▌        | 141/900 [17:49<1:45:53,  8.37s/it]
 16%|█▌        | 142/900 [17:49<1:15:58,  6.01s/it]
 16%|█▌        | 143/900 [17:50<54:57,  4.36s/it]  
 16%|█▌        | 144/900 [17:50<40:17,  3.20s/it]
 16%|█▌        | 145/900 [18:41<3:39:21, 17.43s/it]
 16%|█▌        | 146/900 [18:41<2:35:10, 12.35s/it]
 16%|█▋        | 147/900 [18:42<1:50:18,  8.79s/it]
 16%|█▋        | 148/900 [18:42<1:18:57,  6.30s/it]
 17%|█▋        | 149/900 [18:43<57:03,  4.56s/it]  
 17%|█▋        | 150/900 [18:43<41:45,  3.34s/it]
 17%|█▋        | 151/900 [18:44<31:06,  2.49s/it]
 17%|█▋        | 152/900 [18:44<23:41,  1.90s/it]
 17%|█▋        | 153/900 [19:14<2:07:51, 10.27s/it]
 17%|█▋        | 154/900 [19:15<1:31:17,  7.34s/it]
 17%|█▋        | 155/900 [19:15<1:05:46,  5.30s/it]
 17%|█▋        | 156/900 [19:16<47:51,  3.86s/it]  
 17%|█▋        | 157/900 [19:16<35:20,  2.85s/it]
 18%|█▊        | 158/900 [19:17<26:37,  2.15s/it]
 18%|█▊        | 159/900 [19:17<20:28,  1.66s/it]
 18%|█▊        | 160/900 [19:18<16:19,  1.32s/it]
 18%|█▊        | 161/900 [19:55<2:29:00, 12.10s/it]
 18%|█▊        | 162/900 [19:56<1:46:03,  8.62s/it]
 18%|█▊        | 163/900 [19:56<1:16:01,  6.19s/it]
 18%|█▊        | 164/900 [19:57<55:07,  4.49s/it]  
 18%|█▊        | 165/900 [19:57<40:30,  3.31s/it]
 18%|█▊        | 166/900 [19:58<30:12,  2.47s/it]
 19%|█▊        | 167/900 [19:58<23:05,  1.89s/it]
 19%|█▊        | 168/900 [19:59<17:58,  1.47s/it]
 19%|█▉        | 169/900 [21:43<6:34:16, 32.36s/it]
 19%|█▉        | 170/900 [21:44<4:37:26, 22.80s/it]
 19%|█▉        | 171/900 [21:44<3:15:45, 16.11s/it]
 19%|█▉        | 172/900 [21:45<2:18:39, 11.43s/it]
 19%|█▉        | 173/900 [21:45<1:38:42,  8.15s/it]
 19%|█▉        | 174/900 [21:46<1:10:45,  5.85s/it]
 19%|█▉        | 175/900 [21:46<51:13,  4.24s/it]  
 20%|█▉        | 176/900 [21:47<37:33,  3.11s/it]
 20%|█▉        | 177/900 [22:18<2:20:27, 11.66s/it]
 20%|█▉        | 178/900 [22:19<1:40:02,  8.31s/it]
 20%|█▉        | 179/900 [22:19<1:11:48,  5.98s/it]
 20%|██        | 180/900 [22:20<52:06,  4.34s/it]  
 20%|██        | 181/900 [22:20<38:17,  3.20s/it]
 20%|██        | 182/900 [22:21<28:39,  2.39s/it]
 20%|██        | 183/900 [22:21<21:52,  1.83s/it]
 20%|██        | 184/900 [22:22<17:09,  1.44s/it]
 21%|██        | 185/900 [22:40<1:17:21,  6.49s/it]
 21%|██        | 186/900 [22:41<55:54,  4.70s/it]  
 21%|██        | 187/900 [22:41<40:54,  3.44s/it]
 21%|██        | 188/900 [22:42<30:31,  2.57s/it]
 21%|██        | 189/900 [22:42<23:20,  1.97s/it]
 21%|██        | 190/900 [22:43<18:16,  1.54s/it]
 21%|██        | 191/900 [22:43<14:36,  1.24s/it]
 21%|██▏       | 192/900 [22:44<12:02,  1.02s/it]
 21%|██▏       | 193/900 [23:08<1:34:50,  8.05s/it]
 22%|██▏       | 194/900 [23:09<1:08:09,  5.79s/it]
 22%|██▏       | 195/900 [23:09<49:29,  4.21s/it]  
 22%|██▏       | 196/900 [23:10<36:26,  3.11s/it]
 22%|██▏       | 197/900 [23:10<27:17,  2.33s/it]
 22%|██▏       | 198/900 [23:11<20:56,  1.79s/it]
 22%|██▏       | 199/900 [23:11<16:29,  1.41s/it]
 22%|██▏       | 200/900 [23:12<13:23,  1.15s/it]
 22%|██▏       | 201/900 [23:44<2:01:31, 10.43s/it]
 22%|██▏       | 202/900 [23:45<1:26:45,  7.46s/it]
 23%|██▎       | 203/900 [23:45<1:02:26,  5.38s/it]
 23%|██▎       | 204/900 [23:46<45:27,  3.92s/it]  
 23%|██▎       | 205/900 [23:46<33:34,  2.90s/it]
 23%|██▎       | 206/900 [23:47<25:14,  2.18s/it]
 23%|██▎       | 207/900 [23:47<19:25,  1.68s/it]
 23%|██▎       | 208/900 [23:48<15:20,  1.33s/it]
 23%|██▎       | 209/900 [25:43<6:50:27, 35.64s/it]
 23%|██▎       | 210/900 [25:44<4:48:40, 25.10s/it]
 23%|██▎       | 211/900 [25:44<3:23:32, 17.73s/it]
 24%|██▎       | 212/900 [25:45<2:24:03, 12.56s/it]
 24%|██▎       | 213/900 [25:45<1:42:28,  8.95s/it]
 24%|██▍       | 214/900 [25:46<1:13:23,  6.42s/it]
 24%|██▍       | 215/900 [25:46<53:03,  4.65s/it]  
 24%|██▍       | 216/900 [25:47<38:50,  3.41s/it]
 24%|██▍       | 217/900 [26:33<3:04:24, 16.20s/it]
 24%|██▍       | 218/900 [26:34<2:10:43, 11.50s/it]
 24%|██▍       | 219/900 [26:34<1:33:16,  8.22s/it]
 24%|██▍       | 220/900 [26:35<1:07:03,  5.92s/it]
 25%|██▍       | 221/900 [26:35<48:37,  4.30s/it]  
 25%|██▍       | 222/900 [26:36<35:44,  3.16s/it]
 25%|██▍       | 223/900 [26:36<26:43,  2.37s/it]
 25%|██▍       | 224/900 [26:37<20:25,  1.81s/it]
 25%|██▌       | 225/900 [28:17<5:53:38, 31.44s/it]
 25%|██▌       | 226/900 [28:18<4:09:03, 22.17s/it]
 25%|██▌       | 227/900 [28:18<2:55:56, 15.69s/it]
 25%|██▌       | 228/900 [28:19<2:04:50, 11.15s/it]
 25%|██▌       | 229/900 [28:19<1:29:08,  7.97s/it]
 26%|██▌       | 230/900 [28:20<1:04:08,  5.74s/it]
 26%|██▌       | 231/900 [28:21<46:46,  4.19s/it]  
 26%|██▌       | 232/900 [28:21<34:29,  3.10s/it]
 26%|██▌       | 233/900 [30:49<8:37:05, 46.52s/it]
 26%|██▌       | 234/900 [30:49<6:03:11, 32.72s/it]
 26%|██▌       | 235/900 [30:50<4:15:37, 23.06s/it]
 26%|██▌       | 236/900 [30:51<3:00:27, 16.31s/it]
 26%|██▋       | 237/900 [30:51<2:07:53, 11.57s/it]
 26%|██▋       | 238/900 [30:52<1:31:07,  8.26s/it]
 27%|██▋       | 239/900 [30:52<1:05:23,  5.94s/it]
 27%|██▋       | 240/900 [30:53<47:24,  4.31s/it]  
 27%|██▋       | 241/900 [31:35<2:51:40, 15.63s/it]
 27%|██▋       | 242/900 [31:35<2:01:43, 11.10s/it]
 27%|██▋       | 243/900 [31:36<1:26:46,  7.92s/it]
 27%|██▋       | 244/900 [31:36<1:02:20,  5.70s/it]
 27%|██▋       | 245/900 [31:37<45:16,  4.15s/it]  
 27%|██▋       | 246/900 [31:37<33:20,  3.06s/it]
 27%|██▋       | 247/900 [31:38<24:59,  2.30s/it]
 28%|██▊       | 248/900 [31:38<19:08,  1.76s/it]
 28%|██▊       | 249/900 [32:03<1:32:40,  8.54s/it]
 28%|██▊       | 250/900 [32:03<1:06:26,  6.13s/it]
 28%|██▊       | 251/900 [32:04<48:06,  4.45s/it]  
 28%|██▊       | 252/900 [32:04<35:17,  3.27s/it]
 28%|██▊       | 253/900 [32:05<26:20,  2.44s/it]
 28%|██▊       | 254/900 [32:05<20:05,  1.87s/it]
 28%|██▊       | 255/900 [32:06<15:42,  1.46s/it]
 28%|██▊       | 256/900 [32:06<12:39,  1.18s/it]
 29%|██▊       | 257/900 [34:42<8:29:21, 47.53s/it]
 29%|██▊       | 258/900 [34:43<5:57:40, 33.43s/it]
 29%|██▉       | 259/900 [34:43<4:11:38, 23.55s/it]
 29%|██▉       | 260/900 [34:44<2:57:31, 16.64s/it]
 29%|██▉       | 261/900 [34:44<2:05:52, 11.82s/it]
 29%|██▉       | 262/900 [34:45<1:29:40,  8.43s/it]
 29%|██▉       | 263/900 [34:45<1:04:20,  6.06s/it]
 29%|██▉       | 264/900 [34:46<46:37,  4.40s/it]  
 29%|██▉       | 265/900 [35:15<2:05:09, 11.83s/it]
 30%|██▉       | 266/900 [35:15<1:29:07,  8.43s/it]
 30%|██▉       | 267/900 [35:16<1:03:56,  6.06s/it]
 30%|██▉       | 268/900 [35:16<46:25,  4.41s/it]  
 30%|██▉       | 269/900 [35:17<34:15,  3.26s/it]
 30%|███       | 270/900 [35:18<25:37,  2.44s/it]
 30%|███       | 271/900 [35:18<19:34,  1.87s/it]
 30%|███       | 272/900 [35:19<15:28,  1.48s/it]
 30%|███       | 273/900 [37:35<7:17:16, 41.84s/it]
 30%|███       | 274/900 [37:35<5:07:16, 29.45s/it]
 31%|███       | 275/900 [37:36<3:36:25, 20.78s/it]
 31%|███       | 276/900 [37:36<2:32:57, 14.71s/it]
 31%|███       | 277/900 [37:37<1:48:34, 10.46s/it]
 31%|███       | 278/900 [37:37<1:17:31,  7.48s/it]
 31%|███       | 279/900 [37:38<55:49,  5.39s/it]  
 31%|███       | 280/900 [37:38<40:46,  3.95s/it]
 31%|███       | 281/900 [38:18<2:30:49, 14.62s/it]
 31%|███▏      | 282/900 [38:19<1:47:07, 10.40s/it]
 31%|███▏      | 283/900 [38:19<1:16:37,  7.45s/it]
 32%|███▏      | 284/900 [38:20<55:13,  5.38s/it]  
 32%|███▏      | 285/900 [38:20<40:18,  3.93s/it]
 32%|███▏      | 286/900 [38:21<29:54,  2.92s/it]
 32%|███▏      | 287/900 [38:21<22:38,  2.22s/it]
 32%|███▏      | 288/900 [38:22<17:26,  1.71s/it]
 32%|███▏      | 289/900 [38:51<1:40:22,  9.86s/it]
 32%|███▏      | 290/900 [38:51<1:11:48,  7.06s/it]
 32%|███▏      | 291/900 [38:52<51:51,  5.11s/it]  
 32%|███▏      | 292/900 [38:52<37:54,  3.74s/it]
 33%|███▎      | 293/900 [38:53<28:10,  2.79s/it]
 33%|███▎      | 294/900 [38:54<21:23,  2.12s/it]
 33%|███▎      | 295/900 [38:54<16:34,  1.64s/it]
 33%|███▎      | 296/900 [38:55<13:17,  1.32s/it]
 33%|███▎      | 297/900 [39:38<2:19:16, 13.86s/it]
 33%|███▎      | 298/900 [39:38<1:38:58,  9.86s/it]
 33%|███▎      | 299/900 [39:39<1:10:48,  7.07s/it]
 33%|███▎      | 300/900 [39:39<51:08,  5.11s/it]  
 33%|███▎      | 301/900 [39:40<37:20,  3.74s/it]
 34%|███▎      | 302/900 [39:40<27:45,  2.79s/it]
 34%|███▎      | 303/900 [39:41<20:59,  2.11s/it]
 34%|███▍      | 304/900 [39:42<16:13,  1.63s/it]
 34%|███▍      | 305/900 [40:18<1:59:14, 12.02s/it]
 34%|███▍      | 306/900 [40:18<1:24:50,  8.57s/it]
 34%|███▍      | 307/900 [40:19<1:00:50,  6.16s/it]
 34%|███▍      | 308/900 [40:19<44:04,  4.47s/it]  
 34%|███▍      | 309/900 [40:20<32:20,  3.28s/it]
 34%|███▍      | 310/900 [40:20<24:07,  2.45s/it]
 35%|███▍      | 311/900 [40:21<18:22,  1.87s/it]
 35%|███▍      | 312/900 [40:21<14:23,  1.47s/it]
 35%|███▍      | 313/900 [41:12<2:38:53, 16.24s/it]
 35%|███▍      | 314/900 [41:13<1:52:33, 11.52s/it]
 35%|███▌      | 315/900 [41:13<1:20:09,  8.22s/it]
 35%|███▌      | 316/900 [41:14<57:33,  5.91s/it]  
 35%|███▌      | 317/900 [41:14<41:47,  4.30s/it]
 35%|███▌      | 318/900 [41:15<30:43,  3.17s/it]
 35%|███▌      | 319/900 [41:15<22:59,  2.37s/it]
 36%|███▌      | 320/900 [41:16<17:35,  1.82s/it]
 36%|███▌      | 321/900 [41:54<2:04:11, 12.87s/it]
 36%|███▌      | 322/900 [41:55<1:28:16,  9.16s/it]
 36%|███▌      | 323/900 [41:55<1:03:10,  6.57s/it]
 36%|███▌      | 324/900 [41:56<45:37,  4.75s/it]  
 36%|███▌      | 325/900 [41:57<33:22,  3.48s/it]
 36%|███▌      | 326/900 [41:57<24:57,  2.61s/it]
 36%|███▋      | 327/900 [41:58<19:00,  1.99s/it]
 36%|███▋      | 328/900 [41:58<14:50,  1.56s/it]
 37%|███▋      | 329/900 [42:34<1:53:17, 11.91s/it]
 37%|███▋      | 330/900 [42:35<1:20:44,  8.50s/it]
 37%|███▋      | 331/900 [42:35<57:57,  6.11s/it]  
 37%|███▋      | 332/900 [42:36<42:03,  4.44s/it]
 37%|███▋      | 333/900 [42:36<30:57,  3.28s/it]
 37%|███▋      | 334/900 [42:37<23:15,  2.47s/it]
 37%|███▋      | 335/900 [42:38<17:46,  1.89s/it]
 37%|███▋      | 336/900 [42:38<13:56,  1.48s/it]
 37%|███▋      | 337/900 [44:09<4:24:57, 28.24s/it]
 38%|███▊      | 338/900 [44:09<3:06:40, 19.93s/it]
 38%|███▊      | 339/900 [44:10<2:11:57, 14.11s/it]
 38%|███▊      | 340/900 [44:10<1:33:44, 10.04s/it]
 38%|███▊      | 341/900 [44:11<1:07:01,  7.19s/it]
 38%|███▊      | 342/900 [44:11<48:22,  5.20s/it]  
 38%|███▊      | 343/900 [44:12<35:20,  3.81s/it]
 38%|███▊      | 344/900 [44:13<26:13,  2.83s/it]
 38%|███▊      | 345/900 [44:48<1:55:35, 12.50s/it]
 38%|███▊      | 346/900 [44:48<1:22:16,  8.91s/it]
 39%|███▊      | 347/900 [44:49<58:59,  6.40s/it]  
 39%|███▊      | 348/900 [44:49<42:41,  4.64s/it]
 39%|███▉      | 349/900 [44:50<31:20,  3.41s/it]
 39%|███▉      | 350/900 [44:50<23:23,  2.55s/it]
 39%|███▉      | 351/900 [44:51<17:50,  1.95s/it]
 39%|███▉      | 352/900 [44:51<13:57,  1.53s/it]
 39%|███▉      | 353/900 [45:39<2:19:08, 15.26s/it]
 39%|███▉      | 354/900 [45:39<1:38:40, 10.84s/it]
 39%|███▉      | 355/900 [45:40<1:10:25,  7.75s/it]
 40%|███▉      | 356/900 [45:40<50:40,  5.59s/it]  
 40%|███▉      | 357/900 [45:41<36:54,  4.08s/it]
 40%|███▉      | 358/900 [45:41<27:15,  3.02s/it]
 40%|███▉      | 359/900 [45:42<20:31,  2.28s/it]
 40%|████      | 360/900 [45:43<15:49,  1.76s/it]
 40%|████      | 361/900 [46:41<2:49:06, 18.82s/it]
 40%|████      | 362/900 [46:42<1:59:37, 13.34s/it]
 40%|████      | 363/900 [46:42<1:25:03,  9.50s/it]
 40%|████      | 364/900 [46:43<1:00:53,  6.82s/it]
 41%|████      | 365/900 [46:43<43:59,  4.93s/it]  
 41%|████      | 366/900 [46:44<32:11,  3.62s/it]
 41%|████      | 367/900 [46:44<23:56,  2.70s/it]
 41%|████      | 368/900 [46:45<18:08,  2.05s/it]
 41%|████      | 369/900 [48:54<5:56:14, 40.25s/it]
 41%|████      | 370/900 [48:55<4:10:21, 28.34s/it]
 41%|████      | 371/900 [48:55<2:56:21, 20.00s/it]
 41%|████▏     | 372/900 [48:56<2:04:41, 14.17s/it]
 41%|████▏     | 373/900 [48:57<1:28:34, 10.08s/it]
 42%|████▏     | 374/900 [48:57<1:03:20,  7.22s/it]
 42%|████▏     | 375/900 [48:58<45:44,  5.23s/it]  
 42%|████▏     | 376/900 [48:58<33:27,  3.83s/it]
 42%|████▏     | 377/900 [51:18<6:29:18, 44.66s/it]
 42%|████▏     | 378/900 [51:19<4:33:27, 31.43s/it]
 42%|████▏     | 379/900 [51:19<3:12:28, 22.17s/it]
 42%|████▏     | 380/900 [51:20<2:15:56, 15.69s/it]
 42%|████▏     | 381/900 [51:20<1:36:28, 11.15s/it]
 42%|████▏     | 382/900 [51:21<1:08:58,  7.99s/it]
 43%|████▎     | 383/900 [51:22<49:40,  5.76s/it]  
 43%|████▎     | 384/900 [51:22<36:16,  4.22s/it]
 43%|████▎     | 385/900 [52:12<2:34:31, 18.00s/it]
 43%|████▎     | 386/900 [52:13<1:49:21, 12.77s/it]
 43%|████▎     | 387/900 [52:14<1:17:48,  9.10s/it]
 43%|████▎     | 388/900 [52:14<55:45,  6.53s/it]  
 43%|████▎     | 389/900 [52:15<40:20,  4.74s/it]
 43%|████▎     | 390/900 [52:15<29:32,  3.47s/it]
 43%|████▎     | 391/900 [52:16<22:03,  2.60s/it]
 44%|████▎     | 392/900 [52:16<16:48,  1.99s/it]
 44%|████▎     | 393/900 [53:16<2:43:35, 19.36s/it]
 44%|████▍     | 394/900 [53:17<1:55:41, 13.72s/it]
 44%|████▍     | 395/900 [53:17<1:22:17,  9.78s/it]
 44%|████▍     | 396/900 [53:18<58:53,  7.01s/it]  
 44%|████▍     | 397/900 [53:18<42:31,  5.07s/it]
 44%|████▍     | 398/900 [53:19<31:05,  3.72s/it]
 44%|████▍     | 399/900 [53:20<23:06,  2.77s/it]
 44%|████▍     | 400/900 [53:20<17:32,  2.10s/it]
 45%|████▍     | 401/900 [55:34<5:46:30, 41.66s/it]
 45%|████▍     | 402/900 [55:35<4:03:26, 29.33s/it]
 45%|████▍     | 403/900 [55:35<2:51:24, 20.69s/it]
 45%|████▍     | 404/900 [55:36<2:01:04, 14.65s/it]
 45%|████▌     | 405/900 [55:36<1:25:57, 10.42s/it]
 45%|████▌     | 406/900 [55:37<1:01:23,  7.46s/it]
 45%|████▌     | 407/900 [55:37<44:16,  5.39s/it]  
 45%|████▌     | 408/900 [55:38<32:16,  3.94s/it]
 45%|████▌     | 409/900 [56:29<2:28:14, 18.11s/it]
 46%|████▌     | 410/900 [56:30<1:44:54, 12.85s/it]
 46%|████▌     | 411/900 [56:30<1:14:36,  9.15s/it]
 46%|████▌     | 412/900 [56:31<53:26,  6.57s/it]  
 46%|████▌     | 413/900 [56:31<38:39,  4.76s/it]
 46%|████▌     | 414/900 [56:32<28:20,  3.50s/it]
 46%|████▌     | 415/900 [56:32<21:08,  2.62s/it]
 46%|████▌     | 416/900 [56:33<16:08,  2.00s/it]
 46%|████▋     | 417/900 [58:10<4:05:07, 30.45s/it]
 46%|████▋     | 418/900 [58:10<2:52:34, 21.48s/it]
 47%|████▋     | 419/900 [58:11<2:01:52, 15.20s/it]
 47%|████▋     | 420/900 [58:11<1:26:28, 10.81s/it]
 47%|████▋     | 421/900 [58:12<1:01:42,  7.73s/it]
 47%|████▋     | 422/900 [58:13<44:26,  5.58s/it]  
 47%|████▋     | 423/900 [58:13<32:21,  4.07s/it]
 47%|████▋     | 424/900 [58:14<23:54,  3.01s/it]
 47%|████▋     | 425/900 [1:00:38<5:59:11, 45.37s/it]
 47%|████▋     | 426/900 [1:00:38<4:12:13, 31.93s/it]
 47%|████▋     | 427/900 [1:00:39<2:57:30, 22.52s/it]
 48%|████▊     | 428/900 [1:00:39<2:05:17, 15.93s/it]
 48%|████▊     | 429/900 [1:00:40<1:28:50, 11.32s/it]
 48%|████▊     | 430/900 [1:00:41<1:03:21,  8.09s/it]
 48%|████▊     | 431/900 [1:00:41<45:33,  5.83s/it]  
 48%|████▊     | 432/900 [1:00:42<33:08,  4.25s/it]
 48%|████▊     | 433/900 [1:01:52<3:07:20, 24.07s/it]
 48%|████▊     | 434/900 [1:01:53<2:12:09, 17.02s/it]
 48%|████▊     | 435/900 [1:01:53<1:33:36, 12.08s/it]
 48%|████▊     | 436/900 [1:01:54<1:06:40,  8.62s/it]
 49%|████▊     | 437/900 [1:01:54<47:50,  6.20s/it]  
 49%|████▊     | 438/900 [1:01:55<34:41,  4.51s/it]
 49%|████▉     | 439/900 [1:01:55<25:29,  3.32s/it]
 49%|████▉     | 440/900 [1:01:56<19:03,  2.49s/it]
 49%|████▉     | 441/900 [1:05:02<7:19:33, 57.46s/it]
 49%|████▉     | 442/900 [1:05:02<5:08:18, 40.39s/it]
 49%|████▉     | 443/900 [1:05:03<3:36:37, 28.44s/it]
 49%|████▉     | 444/900 [1:05:03<2:32:34, 20.08s/it]
 49%|████▉     | 445/900 [1:05:04<1:47:49, 14.22s/it]
 50%|████▉     | 446/900 [1:05:04<1:16:33, 10.12s/it]
 50%|████▉     | 447/900 [1:05:05<54:41,  7.24s/it]  
 50%|████▉     | 448/900 [1:05:06<39:26,  5.24s/it]
 50%|████▉     | 449/900 [1:06:49<4:19:55, 34.58s/it]
 50%|█████     | 450/900 [1:06:49<3:02:47, 24.37s/it]
 50%|█████     | 451/900 [1:06:50<2:08:54, 17.23s/it]
 50%|█████     | 452/900 [1:06:50<1:31:17, 12.23s/it]
 50%|█████     | 453/900 [1:06:51<1:05:01,  8.73s/it]
 50%|█████     | 454/900 [1:06:51<46:39,  6.28s/it]  
 51%|█████     | 455/900 [1:06:52<33:51,  4.57s/it]
 51%|█████     | 456/900 [1:06:52<24:53,  3.36s/it]
 51%|█████     | 457/900 [1:08:04<2:56:43, 23.94s/it]
 51%|█████     | 458/900 [1:08:05<2:04:40, 16.92s/it]
 51%|█████     | 459/900 [1:08:06<1:28:17, 12.01s/it]
 51%|█████     | 460/900 [1:08:06<1:02:52,  8.57s/it]
 51%|█████     | 461/900 [1:08:07<45:06,  6.17s/it]  
 51%|█████▏    | 462/900 [1:08:07<32:42,  4.48s/it]
 51%|█████▏    | 463/900 [1:08:08<24:02,  3.30s/it]
 52%|█████▏    | 464/900 [1:08:08<17:58,  2.47s/it]
 52%|█████▏    | 465/900 [1:08:43<1:27:23, 12.05s/it]
 52%|█████▏    | 466/900 [1:08:43<1:02:13,  8.60s/it]
 52%|█████▏    | 467/900 [1:08:44<44:39,  6.19s/it]  
 52%|█████▏    | 468/900 [1:08:44<32:22,  4.50s/it]
 52%|█████▏    | 469/900 [1:08:45<23:47,  3.31s/it]
 52%|█████▏    | 470/900 [1:08:45<17:48,  2.48s/it]
 52%|█████▏    | 471/900 [1:08:46<13:38,  1.91s/it]
 52%|█████▏    | 472/900 [1:08:47<10:43,  1.50s/it]
 53%|█████▎    | 473/900 [1:15:24<14:15:18, 120.18s/it]
 53%|█████▎    | 474/900 [1:15:24<9:58:29, 84.30s/it]  
 53%|█████▎    | 475/900 [1:15:25<6:59:08, 59.17s/it]
 53%|█████▎    | 476/900 [1:15:25<4:53:55, 41.59s/it]
 53%|█████▎    | 477/900 [1:15:26<3:26:25, 29.28s/it]
 53%|█████▎    | 478/900 [1:15:26<2:25:20, 20.66s/it]
 53%|█████▎    | 479/900 [1:15:27<1:42:41, 14.64s/it]
 53%|█████▎    | 480/900 [1:15:28<1:12:55, 10.42s/it]
 53%|█████▎    | 481/900 [1:17:13<4:30:59, 38.81s/it]
 54%|█████▎    | 482/900 [1:17:13<3:10:25, 27.33s/it]
 54%|█████▎    | 483/900 [1:17:14<2:14:08, 19.30s/it]
 54%|█████▍    | 484/900 [1:17:14<1:34:48, 13.67s/it]
 54%|█████▍    | 485/900 [1:17:15<1:07:22,  9.74s/it]
 54%|█████▍    | 486/900 [1:17:15<48:11,  6.98s/it]  
 54%|█████▍    | 487/900 [1:17:16<34:47,  5.06s/it]
 54%|█████▍    | 488/900 [1:17:17<25:27,  3.71s/it]
 54%|█████▍    | 489/900 [1:22:37<11:16:25, 98.75s/it]
 54%|█████▍    | 490/900 [1:22:38<7:53:29, 69.29s/it] 
 55%|█████▍    | 491/900 [1:22:38<5:31:46, 48.67s/it]
 55%|█████▍    | 492/900 [1:22:39<3:52:49, 34.24s/it]
 55%|█████▍    | 493/900 [1:22:39<2:43:43, 24.14s/it]
 55%|█████▍    | 494/900 [1:22:40<1:55:27, 17.06s/it]
 55%|█████▌    | 495/900 [1:22:40<1:21:44, 12.11s/it]
 55%|█████▌    | 496/900 [1:22:41<58:12,  8.65s/it]  
 55%|█████▌    | 497/900 [1:23:23<2:05:55, 18.75s/it]
 55%|█████▌    | 498/900 [1:23:24<1:29:02, 13.29s/it]
 55%|█████▌    | 499/900 [1:23:24<1:03:17,  9.47s/it]
 56%|█████▌    | 500/900 [1:23:26<46:35,  6.99s/it]  
 56%|█████▌    | 501/900 [1:23:26<33:39,  5.06s/it]
 56%|█████▌    | 502/900 [1:23:27<24:36,  3.71s/it]
 56%|█████▌    | 503/900 [1:23:27<18:18,  2.77s/it]
 56%|█████▌    | 504/900 [1:23:28<13:53,  2.11s/it]
 56%|█████▌    | 505/900 [1:29:55<12:55:11, 117.75s/it]
 56%|█████▌    | 506/900 [1:29:56<9:02:21, 82.59s/it]  
 56%|█████▋    | 507/900 [1:29:57<6:19:45, 57.98s/it]
 56%|█████▋    | 508/900 [1:29:57<4:26:14, 40.75s/it]
 57%|█████▋    | 509/900 [1:29:58<3:06:58, 28.69s/it]
 57%|█████▋    | 510/900 [1:29:58<2:11:37, 20.25s/it]
 57%|█████▋    | 511/900 [1:29:59<1:32:57, 14.34s/it]
 57%|█████▋    | 512/900 [1:29:59<1:05:58, 10.20s/it]
 57%|█████▋    | 513/900 [1:39:16<18:42:37, 174.05s/it]
 57%|█████▋    | 514/900 [1:39:16<13:04:52, 122.00s/it]
 57%|█████▋    | 515/900 [1:39:17<9:09:03, 85.57s/it]  
 57%|█████▋    | 516/900 [1:39:17<6:24:25, 60.07s/it]
 57%|█████▋    | 517/900 [1:39:18<4:29:27, 42.21s/it]
 58%|█████▊    | 518/900 [1:39:18<3:09:11, 29.72s/it]
 58%|█████▊    | 519/900 [1:39:19<2:13:08, 20.97s/it]
 58%|█████▊    | 520/900 [1:39:20<1:34:00, 14.84s/it]
 58%|█████▊    | 521/900 [1:40:10<2:42:01, 25.65s/it]
 58%|█████▊    | 522/900 [1:40:11<1:54:12, 18.13s/it]
 58%|█████▊    | 523/900 [1:40:12<1:20:47, 12.86s/it]
 58%|█████▊    | 524/900 [1:40:12<57:27,  9.17s/it]  
 58%|█████▊    | 525/900 [1:40:13<41:09,  6.58s/it]
 58%|█████▊    | 526/900 [1:40:13<29:44,  4.77s/it]
 59%|█████▊    | 527/900 [1:40:14<21:47,  3.50s/it]
 59%|█████▊    | 528/900 [1:40:14<16:13,  2.62s/it]
 59%|█████▉    | 529/900 [1:43:19<5:53:51, 57.23s/it]
 59%|█████▉    | 530/900 [1:43:20<4:08:04, 40.23s/it]
 59%|█████▉    | 531/900 [1:43:20<2:54:16, 28.34s/it]
 59%|█████▉    | 532/900 [1:43:21<2:02:44, 20.01s/it]
 59%|█████▉    | 533/900 [1:43:21<1:26:41, 14.17s/it]
 59%|█████▉    | 534/900 [1:43:22<1:01:30, 10.08s/it]
 59%|█████▉    | 535/900 [1:43:22<43:56,  7.22s/it]  
 60%|█████▉    | 536/900 [1:43:23<31:41,  5.22s/it]
 60%|█████▉    | 537/900 [1:44:02<1:33:06, 15.39s/it]
 60%|█████▉    | 538/900 [1:44:03<1:05:58, 10.94s/it]
 60%|█████▉    | 539/900 [1:44:03<47:02,  7.82s/it]  
 60%|██████    | 540/900 [1:44:04<33:49,  5.64s/it]
 60%|██████    | 541/900 [1:44:04<24:35,  4.11s/it]
 60%|██████    | 542/900 [1:44:05<18:08,  3.04s/it]
 60%|██████    | 543/900 [1:44:05<13:37,  2.29s/it]
 60%|██████    | 544/900 [1:44:06<10:28,  1.77s/it]
 61%|██████    | 545/900 [1:46:24<4:12:01, 42.60s/it]
 61%|██████    | 546/900 [1:46:24<2:56:52, 29.98s/it]
 61%|██████    | 547/900 [1:46:25<2:04:24, 21.15s/it]
 61%|██████    | 548/900 [1:46:25<1:27:48, 14.97s/it]
 61%|██████    | 549/900 [1:46:26<1:02:15, 10.64s/it]
 61%|██████    | 550/900 [1:46:26<44:23,  7.61s/it]  
 61%|██████    | 551/900 [1:46:27<31:56,  5.49s/it]
 61%|██████▏   | 552/900 [1:46:27<23:14,  4.01s/it]
 61%|██████▏   | 553/900 [1:51:22<8:47:12, 91.16s/it]
 62%|██████▏   | 554/900 [1:51:23<6:08:55, 63.98s/it]
 62%|██████▏   | 555/900 [1:51:23<4:18:27, 44.95s/it]
 62%|██████▏   | 556/900 [1:51:24<3:01:19, 31.63s/it]
 62%|██████▏   | 557/900 [1:51:24<2:07:30, 22.30s/it]
 62%|██████▏   | 558/900 [1:51:25<1:29:57, 15.78s/it]
 62%|██████▏   | 559/900 [1:51:25<1:03:44, 11.22s/it]
 62%|██████▏   | 560/900 [1:51:26<45:25,  8.01s/it]  
 62%|██████▏   | 561/900 [2:01:08<16:57:55, 180.16s/it]
 62%|██████▏   | 562/900 [2:01:08<11:51:22, 126.28s/it]
 63%|██████▎   | 563/900 [2:01:09<8:17:23, 88.56s/it]  
 63%|██████▎   | 564/900 [2:01:09<5:48:03, 62.15s/it]
 63%|██████▎   | 565/900 [2:01:10<4:03:49, 43.67s/it]
 63%|██████▎   | 566/900 [2:01:10<2:51:05, 30.74s/it]
 63%|██████▎   | 567/900 [2:01:11<2:00:19, 21.68s/it]
 63%|██████▎   | 568/900 [2:01:12<1:24:53, 15.34s/it]
 63%|██████▎   | 569/900 [2:02:29<3:08:02, 34.09s/it]
 63%|██████▎   | 570/900 [2:02:30<2:12:10, 24.03s/it]
 63%|██████▎   | 571/900 [2:02:31<1:33:12, 17.00s/it]
 64%|██████▎   | 572/900 [2:02:31<1:05:59, 12.07s/it]
 64%|██████▎   | 573/900 [2:02:32<46:58,  8.62s/it]  
 64%|██████▍   | 574/900 [2:02:32<33:42,  6.20s/it]
 64%|██████▍   | 575/900 [2:02:33<24:25,  4.51s/it]
 64%|██████▍   | 576/900 [2:02:33<17:56,  3.32s/it]
 64%|██████▍   | 577/900 [2:05:05<4:17:05, 47.76s/it]
 64%|██████▍   | 578/900 [2:05:05<3:00:16, 33.59s/it]
 64%|██████▍   | 579/900 [2:05:06<2:06:42, 23.68s/it]
 64%|██████▍   | 580/900 [2:05:06<1:29:20, 16.75s/it]
 65%|██████▍   | 581/900 [2:05:07<1:03:14, 11.89s/it]
 65%|██████▍   | 582/900 [2:05:08<45:00,  8.49s/it]  
 65%|██████▍   | 583/900 [2:05:08<32:16,  6.11s/it]
 65%|██████▍   | 584/900 [2:05:09<23:23,  4.44s/it]
 65%|██████▌   | 585/900 [2:06:29<2:22:23, 27.12s/it]
 65%|██████▌   | 586/900 [2:06:29<1:40:14, 19.16s/it]
 65%|██████▌   | 587/900 [2:06:30<1:10:48, 13.57s/it]
 65%|██████▌   | 588/900 [2:06:30<50:16,  9.67s/it]  
 65%|██████▌   | 589/900 [2:06:31<35:56,  6.93s/it]
 66%|██████▌   | 590/900 [2:06:31<25:55,  5.02s/it]
 66%|██████▌   | 591/900 [2:06:32<18:57,  3.68s/it]
 66%|██████▌   | 592/900 [2:06:33<14:04,  2.74s/it]
 66%|██████▌   | 593/900 [2:10:13<5:48:15, 68.06s/it]
 66%|██████▌   | 594/900 [2:10:14<4:03:48, 47.81s/it]
 66%|██████▌   | 595/900 [2:10:14<2:50:55, 33.63s/it]
 66%|██████▌   | 596/900 [2:10:15<2:00:04, 23.70s/it]
 66%|██████▋   | 597/900 [2:10:15<1:24:36, 16.75s/it]
 66%|██████▋   | 598/900 [2:10:16<59:51, 11.89s/it]  
 67%|██████▋   | 599/900 [2:10:16<42:35,  8.49s/it]
 67%|██████▋   | 600/900 [2:10:17<30:31,  6.11s/it]
 67%|██████▋   | 601/900 [2:11:15<1:48:09, 21.70s/it]
 67%|██████▋   | 602/900 [2:11:16<1:16:17, 15.36s/it]
 67%|██████▋   | 603/900 [2:11:16<54:02, 10.92s/it]  
 67%|██████▋   | 604/900 [2:11:17<38:30,  7.81s/it]
 67%|██████▋   | 605/900 [2:11:17<27:39,  5.63s/it]
 67%|██████▋   | 606/900 [2:11:18<20:05,  4.10s/it]
 67%|██████▋   | 607/900 [2:11:18<14:48,  3.03s/it]
 68%|██████▊   | 608/900 [2:11:19<11:07,  2.28s/it]
 68%|██████▊   | 609/900 [2:12:02<1:10:25, 14.52s/it]
 68%|██████▊   | 610/900 [2:12:02<49:56, 10.33s/it]  
 68%|██████▊   | 611/900 [2:12:03<35:38,  7.40s/it]
 68%|██████▊   | 612/900 [2:12:04<25:39,  5.34s/it]
 68%|██████▊   | 613/900 [2:12:04<18:40,  3.91s/it]
 68%|██████▊   | 614/900 [2:12:05<13:49,  2.90s/it]
 68%|██████▊   | 615/900 [2:12:05<10:24,  2.19s/it]
 68%|██████▊   | 616/900 [2:12:06<08:02,  1.70s/it]
 69%|██████▊   | 617/900 [2:12:48<1:05:59, 13.99s/it]
 69%|██████▊   | 618/900 [2:12:49<46:49,  9.96s/it]  
 69%|██████▉   | 619/900 [2:12:50<33:27,  7.14s/it]
 69%|██████▉   | 620/900 [2:12:50<24:06,  5.17s/it]
 69%|██████▉   | 621/900 [2:12:51<17:36,  3.79s/it]
 69%|██████▉   | 622/900 [2:12:51<13:02,  2.81s/it]
 69%|██████▉   | 623/900 [2:12:52<09:50,  2.13s/it]
 69%|██████▉   | 624/900 [2:12:52<07:37,  1.66s/it]
 69%|██████▉   | 625/900 [2:14:11<1:53:43, 24.81s/it]
 70%|██████▉   | 626/900 [2:14:12<1:20:04, 17.53s/it]
 70%|██████▉   | 627/900 [2:14:12<56:36, 12.44s/it]  
 70%|██████▉   | 628/900 [2:14:13<40:13,  8.87s/it]
 70%|██████▉   | 629/900 [2:14:13<28:47,  6.38s/it]
 70%|███████   | 630/900 [2:14:14<20:50,  4.63s/it]
 70%|███████   | 631/900 [2:14:14<15:17,  3.41s/it]
 70%|███████   | 632/900 [2:14:15<11:23,  2.55s/it]
 70%|███████   | 633/900 [2:17:33<4:32:56, 61.34s/it]
 70%|███████   | 634/900 [2:17:34<3:11:05, 43.10s/it]
 71%|███████   | 635/900 [2:17:35<2:13:59, 30.34s/it]
 71%|███████   | 636/900 [2:17:35<1:34:08, 21.40s/it]
 71%|███████   | 637/900 [2:17:36<1:06:22, 15.14s/it]
 71%|███████   | 638/900 [2:17:36<47:04, 10.78s/it]  
 71%|███████   | 639/900 [2:17:37<33:34,  7.72s/it]
 71%|███████   | 640/900 [2:17:37<24:11,  5.58s/it]
 71%|███████   | 641/900 [2:31:45<18:34:21, 258.15s/it]
 71%|███████▏  | 642/900 [2:31:45<12:57:44, 180.87s/it]
 71%|███████▏  | 643/900 [2:31:46<9:03:01, 126.77s/it] 
 72%|███████▏  | 644/900 [2:31:47<6:19:20, 88.91s/it] 
 72%|███████▏  | 645/900 [2:31:47<4:25:11, 62.40s/it]
 72%|███████▏  | 646/900 [2:31:48<3:05:37, 43.85s/it]
 72%|███████▏  | 647/900 [2:31:48<2:10:07, 30.86s/it]
 72%|███████▏  | 648/900 [2:31:49<1:31:26, 21.77s/it]
 72%|███████▏  | 649/900 [2:40:05<11:26:13, 164.04s/it]
 72%|███████▏  | 650/900 [2:40:05<7:59:08, 114.99s/it] 
 72%|███████▏  | 651/900 [2:40:06<5:34:45, 80.66s/it] 
 72%|███████▏  | 652/900 [2:40:06<3:54:04, 56.63s/it]
 73%|███████▎  | 653/900 [2:40:07<2:43:52, 39.81s/it]
 73%|███████▎  | 654/900 [2:40:08<1:54:55, 28.03s/it]
 73%|███████▎  | 655/900 [2:40:08<1:20:46, 19.78s/it]
 73%|███████▎  | 656/900 [2:40:09<56:59, 14.01s/it]  
 73%|███████▎  | 657/900 [2:44:04<5:26:12, 80.54s/it]
 73%|███████▎  | 658/900 [2:44:05<3:48:04, 56.55s/it]
 73%|███████▎  | 659/900 [2:44:06<2:39:39, 39.75s/it]
 73%|███████▎  | 660/900 [2:44:06<1:51:56, 27.99s/it]
 73%|███████▎  | 661/900 [2:44:07<1:18:40, 19.75s/it]
 74%|███████▎  | 662/900 [2:44:07<55:29, 13.99s/it]  
 74%|███████▎  | 663/900 [2:44:08<39:20,  9.96s/it]
 74%|███████▍  | 664/900 [2:44:08<28:03,  7.13s/it]
 74%|███████▍  | 665/900 [2:49:33<6:40:49, 102.34s/it]
 74%|███████▍  | 666/900 [2:49:33<4:40:01, 71.80s/it] 
 74%|███████▍  | 667/900 [2:49:34<3:15:47, 50.42s/it]
 74%|███████▍  | 668/900 [2:49:34<2:17:04, 35.45s/it]
 74%|███████▍  | 669/900 [2:49:35<1:36:09, 24.97s/it]
 74%|███████▍  | 670/900 [2:49:35<1:07:36, 17.64s/it]
 75%|███████▍  | 671/900 [2:49:36<47:43, 12.50s/it]  
 75%|███████▍  | 672/900 [2:49:36<33:50,  8.91s/it]
 75%|███████▍  | 673/900 [3:01:00<13:19:09, 211.23s/it]
 75%|███████▍  | 674/900 [3:01:00<9:17:32, 148.02s/it] 
 75%|███████▌  | 675/900 [3:01:01<6:29:08, 103.77s/it]
 75%|███████▌  | 676/900 [3:01:01<4:31:46, 72.80s/it] 
 75%|███████▌  | 677/900 [3:01:02<3:09:58, 51.11s/it]
 75%|███████▌  | 678/900 [3:01:02<2:12:57, 35.94s/it]
 75%|███████▌  | 679/900 [3:01:03<1:33:13, 25.31s/it]
 76%|███████▌  | 680/900 [3:01:03<1:05:31, 17.87s/it]
 76%|███████▌  | 681/900 [3:02:26<2:16:36, 37.43s/it]
 76%|███████▌  | 682/900 [3:02:27<1:35:45, 26.36s/it]
 76%|███████▌  | 683/900 [3:02:28<1:07:17, 18.61s/it]
 76%|███████▌  | 684/900 [3:02:28<47:27, 13.18s/it]  
 76%|███████▌  | 685/900 [3:02:29<33:37,  9.38s/it]
 76%|███████▌  | 686/900 [3:02:29<23:59,  6.72s/it]
 76%|███████▋  | 687/900 [3:02:30<17:16,  4.87s/it]
 76%|███████▋  | 688/900 [3:02:30<12:34,  3.56s/it]
 77%|███████▋  | 689/900 [3:15:00<13:19:44, 227.42s/it]
 77%|███████▋  | 690/900 [3:15:00<9:17:43, 159.35s/it] 
 77%|███████▋  | 691/900 [3:15:01<6:29:06, 111.70s/it]
 77%|███████▋  | 692/900 [3:15:01<4:31:38, 78.36s/it] 
 77%|███████▋  | 693/900 [3:15:02<3:09:46, 55.01s/it]
 77%|███████▋  | 694/900 [3:15:03<2:12:44, 38.66s/it]
 77%|███████▋  | 695/900 [3:15:03<1:33:00, 27.22s/it]
 77%|███████▋  | 696/900 [3:15:04<1:05:21, 19.22s/it]
 77%|███████▋  | 697/900 [3:24:08<9:57:40, 176.65s/it]
 78%|███████▊  | 698/900 [3:24:08<6:56:52, 123.82s/it]
 78%|███████▊  | 699/900 [3:24:09<4:50:55, 86.84s/it] 
 78%|███████▊  | 700/900 [3:24:09<3:23:09, 60.95s/it]
 78%|███████▊  | 701/900 [3:24:10<2:22:01, 42.82s/it]
 78%|███████▊  | 702/900 [3:24:10<1:39:26, 30.13s/it]
 78%|███████▊  | 703/900 [3:24:11<1:09:46, 21.25s/it]
 78%|███████▊  | 704/900 [3:24:11<49:06, 15.03s/it]  
 78%|███████▊  | 705/900 [3:29:48<6:02:22, 111.50s/it]
 78%|███████▊  | 706/900 [3:29:48<4:12:52, 78.21s/it] 
 79%|███████▊  | 707/900 [3:29:49<2:56:35, 54.90s/it]
 79%|███████▊  | 708/900 [3:29:50<2:03:28, 38.59s/it]
 79%|███████▉  | 709/900 [3:29:50<1:26:28, 27.17s/it]
 79%|███████▉  | 710/900 [3:29:51<1:00:42, 19.17s/it]
 79%|███████▉  | 711/900 [3:29:51<42:46, 13.58s/it]  
 79%|███████▉  | 712/900 [3:29:52<30:19,  9.68s/it]
 79%|███████▉  | 713/900 [3:31:16<1:40:05, 32.12s/it]
 79%|███████▉  | 714/900 [3:31:17<1:10:10, 22.64s/it]
 79%|███████▉  | 715/900 [3:31:17<49:20, 16.00s/it]  
 80%|███████▉  | 716/900 [3:31:18<34:49, 11.36s/it]
 80%|███████▉  | 717/900 [3:31:18<24:43,  8.11s/it]
 80%|███████▉  | 718/900 [3:31:19<17:42,  5.84s/it]
 80%|███████▉  | 719/900 [3:31:19<12:48,  4.24s/it]
 80%|████████  | 720/900 [3:31:20<09:23,  3.13s/it]
 80%|████████  | 721/900 [3:33:48<2:19:23, 46.72s/it]
 80%|████████  | 722/900 [3:33:49<1:37:31, 32.87s/it]
 80%|████████  | 723/900 [3:33:49<1:08:22, 23.18s/it]
 80%|████████  | 724/900 [3:33:50<48:04, 16.39s/it]  
 81%|████████  | 725/900 [3:33:50<33:56, 11.64s/it]
 81%|████████  | 726/900 [3:33:51<24:05,  8.31s/it]
 81%|████████  | 727/900 [3:33:52<17:15,  5.99s/it]
 81%|████████  | 728/900 [3:33:52<12:29,  4.36s/it]
 81%|████████  | 729/900 [3:35:43<1:43:43, 36.39s/it]
 81%|████████  | 730/900 [3:35:44<1:12:39, 25.64s/it]
 81%|████████  | 731/900 [3:35:44<51:01, 18.11s/it]  
 81%|████████▏ | 732/900 [3:35:45<35:57, 12.84s/it]
 81%|████████▏ | 733/900 [3:35:45<25:29,  9.16s/it]
 82%|████████▏ | 734/900 [3:35:46<18:11,  6.58s/it]
 82%|████████▏ | 735/900 [3:35:47<13:06,  4.77s/it]
 82%|████████▏ | 736/900 [3:35:47<09:34,  3.50s/it]
 82%|████████▏ | 737/900 [3:37:51<1:47:49, 39.69s/it]
 82%|████████▏ | 738/900 [3:37:52<1:15:28, 27.95s/it]
 82%|████████▏ | 739/900 [3:37:52<52:56, 19.73s/it]  
 82%|████████▏ | 740/900 [3:37:53<37:17, 13.98s/it]
 82%|████████▏ | 741/900 [3:37:53<26:22,  9.95s/it]
 82%|████████▏ | 742/900 [3:37:54<18:46,  7.13s/it]
 83%|████████▎ | 743/900 [3:37:55<13:30,  5.16s/it]
 83%|████████▎ | 744/900 [3:37:55<09:49,  3.78s/it]
 83%|████████▎ | 745/900 [3:38:57<54:29, 21.09s/it]
 83%|████████▎ | 746/900 [3:38:57<38:18, 14.93s/it]
 83%|████████▎ | 747/900 [3:38:58<27:04, 10.62s/it]
 83%|████████▎ | 748/900 [3:38:58<19:14,  7.60s/it]
 83%|████████▎ | 749/900 [3:38:59<13:47,  5.48s/it]
 83%|████████▎ | 750/900 [3:38:59<10:00,  4.00s/it]
 83%|████████▎ | 751/900 [3:39:00<07:23,  2.97s/it]
 84%|████████▎ | 752/900 [3:39:01<05:33,  2.25s/it]
 84%|████████▎ | 753/900 [3:41:55<2:11:50, 53.82s/it]
 84%|████████▍ | 754/900 [3:41:55<1:32:03, 37.84s/it]
 84%|████████▍ | 755/900 [3:41:56<1:04:24, 26.65s/it]
 84%|████████▍ | 756/900 [3:41:56<45:10, 18.82s/it]  
 84%|████████▍ | 757/900 [3:41:57<31:47, 13.34s/it]
 84%|████████▍ | 758/900 [3:41:57<22:29,  9.50s/it]
 84%|████████▍ | 759/900 [3:41:58<16:01,  6.82s/it]
 84%|████████▍ | 760/900 [3:41:59<11:31,  4.94s/it]
 85%|████████▍ | 761/900 [3:43:56<1:29:43, 38.73s/it]
 85%|████████▍ | 762/900 [3:43:57<1:02:44, 27.28s/it]
 85%|████████▍ | 763/900 [3:43:57<43:59, 19.26s/it]  
 85%|████████▍ | 764/900 [3:43:58<30:56, 13.65s/it]
 85%|████████▌ | 765/900 [3:43:58<21:52,  9.73s/it]
 85%|████████▌ | 766/900 [3:43:59<15:34,  6.98s/it]
 85%|████████▌ | 767/900 [3:43:59<11:11,  5.05s/it]
 85%|████████▌ | 768/900 [3:44:00<08:09,  3.71s/it]
 85%|████████▌ | 769/900 [3:45:00<44:47, 20.51s/it]
 86%|████████▌ | 770/900 [3:45:00<31:28, 14.53s/it]
 86%|████████▌ | 771/900 [3:45:01<22:14, 10.35s/it]
 86%|████████▌ | 772/900 [3:45:01<15:48,  7.41s/it]
 86%|████████▌ | 773/900 [3:45:02<11:19,  5.35s/it]
 86%|████████▌ | 774/900 [3:45:03<08:12,  3.91s/it]
 86%|████████▌ | 775/900 [3:45:03<06:02,  2.90s/it]
 86%|████████▌ | 776/900 [3:45:04<04:31,  2.19s/it]
 86%|████████▋ | 777/900 [3:48:48<2:21:09, 68.86s/it]
 86%|████████▋ | 778/900 [3:48:49<1:38:19, 48.36s/it]
 87%|████████▋ | 779/900 [3:48:49<1:08:35, 34.01s/it]
 87%|████████▋ | 780/900 [3:48:50<47:55, 23.96s/it]  
 87%|████████▋ | 781/900 [3:48:50<33:34, 16.93s/it]
 87%|████████▋ | 782/900 [3:48:51<23:36, 12.00s/it]
 87%|████████▋ | 783/900 [3:48:51<16:40,  8.56s/it]
 87%|████████▋ | 784/900 [3:48:52<11:52,  6.14s/it]
 87%|████████▋ | 785/900 [3:50:52<1:17:40, 40.53s/it]
 87%|████████▋ | 786/900 [3:50:53<54:11, 28.52s/it]  
 87%|████████▋ | 787/900 [3:50:53<37:53, 20.12s/it]
 88%|████████▊ | 788/900 [3:50:54<26:34, 14.24s/it]
 88%|████████▊ | 789/900 [3:50:54<18:43, 10.12s/it]
 88%|████████▊ | 790/900 [3:50:55<13:17,  7.25s/it]
 88%|████████▊ | 791/900 [3:50:56<09:30,  5.24s/it]
 88%|████████▊ | 792/900 [3:50:56<06:53,  3.83s/it]
 88%|████████▊ | 793/900 [3:52:50<1:05:50, 36.92s/it]
 88%|████████▊ | 794/900 [3:52:51<45:56, 26.00s/it]  
 88%|████████▊ | 795/900 [3:52:51<32:07, 18.35s/it]
 88%|████████▊ | 796/900 [3:52:52<22:32, 13.00s/it]
 89%|████████▊ | 797/900 [3:52:52<15:53,  9.26s/it]
 89%|████████▊ | 798/900 [3:52:53<11:17,  6.64s/it]
 89%|████████▉ | 799/900 [3:52:53<08:05,  4.81s/it]
 89%|████████▉ | 800/900 [3:52:54<05:52,  3.52s/it]
 89%|████████▉ | 801/900 [3:56:03<1:37:31, 59.11s/it]
 89%|████████▉ | 802/900 [3:56:03<1:07:50, 41.53s/it]
 89%|████████▉ | 803/900 [3:56:04<47:15, 29.23s/it]  
 89%|████████▉ | 804/900 [3:56:04<32:59, 20.62s/it]
 89%|████████▉ | 805/900 [3:56:05<23:06, 14.60s/it]
 90%|████████▉ | 806/900 [3:56:05<16:15, 10.38s/it]
 90%|████████▉ | 807/900 [3:56:06<11:30,  7.43s/it]
 90%|████████▉ | 808/900 [3:56:06<08:13,  5.36s/it]
 90%|████████▉ | 809/900 [3:56:59<29:28, 19.43s/it]
 90%|█████████ | 810/900 [3:56:59<20:38, 13.76s/it]
 90%|█████████ | 811/900 [3:57:00<14:31,  9.79s/it]
 90%|█████████ | 812/900 [3:57:00<10:17,  7.01s/it]
 90%|█████████ | 813/900 [3:57:01<07:21,  5.07s/it]
 90%|█████████ | 814/900 [3:57:01<05:19,  3.71s/it]
 91%|█████████ | 815/900 [3:57:02<03:54,  2.76s/it]
 91%|█████████ | 816/900 [3:57:02<02:55,  2.09s/it]
 91%|█████████ | 817/900 [3:59:12<55:57, 40.45s/it]
 91%|█████████ | 818/900 [3:59:13<38:54, 28.47s/it]
 91%|█████████ | 819/900 [3:59:13<27:06, 20.08s/it]
 91%|█████████ | 820/900 [3:59:14<18:57, 14.22s/it]
 91%|█████████ | 821/900 [3:59:15<13:18, 10.11s/it]
 91%|█████████▏| 822/900 [3:59:15<09:24,  7.23s/it]
 91%|█████████▏| 823/900 [3:59:16<06:41,  5.22s/it]
 92%|█████████▏| 824/900 [3:59:16<04:49,  3.80s/it]
 92%|█████████▏| 825/900 [4:02:23<1:13:27, 58.76s/it]
 92%|█████████▏| 826/900 [4:02:24<50:55, 41.29s/it]  
 92%|█████████▏| 827/900 [4:02:24<35:21, 29.06s/it]
 92%|█████████▏| 828/900 [4:02:25<24:35, 20.50s/it]
 92%|█████████▏| 829/900 [4:02:25<17:09, 14.50s/it]
 92%|█████████▏| 830/900 [4:02:26<12:01, 10.31s/it]
 92%|█████████▏| 831/900 [4:02:26<08:28,  7.37s/it]
 92%|█████████▏| 832/900 [4:02:27<06:01,  5.32s/it]
 93%|█████████▎| 833/900 [4:04:57<54:32, 48.84s/it]
 93%|█████████▎| 834/900 [4:04:58<37:47, 34.36s/it]
 93%|█████████▎| 835/900 [4:04:58<26:14, 24.22s/it]
 93%|█████████▎| 836/900 [4:04:59<18:15, 17.12s/it]
 93%|█████████▎| 837/900 [4:04:59<12:44, 12.14s/it]
 93%|█████████▎| 838/900 [4:05:00<08:56,  8.65s/it]
 93%|█████████▎| 839/900 [4:05:00<06:18,  6.21s/it]
 93%|█████████▎| 840/900 [4:05:01<04:30,  4.50s/it]
 93%|█████████▎| 841/900 [4:06:56<37:08, 37.78s/it]
 94%|█████████▎| 842/900 [4:06:57<25:42, 26.60s/it]
 94%|█████████▎| 843/900 [4:06:57<17:50, 18.77s/it]
 94%|█████████▍| 844/900 [4:06:58<12:24, 13.30s/it]
 94%|█████████▍| 845/900 [4:06:58<08:40,  9.47s/it]
 94%|█████████▍| 846/900 [4:06:59<06:06,  6.79s/it]
 94%|█████████▍| 847/900 [4:06:59<04:20,  4.92s/it]
 94%|█████████▍| 848/900 [4:07:00<03:07,  3.61s/it]
 94%|█████████▍| 849/900 [4:09:01<33:05, 38.93s/it]
 94%|█████████▍| 850/900 [4:09:02<22:50, 27.40s/it]
 95%|█████████▍| 851/900 [4:09:02<15:47, 19.34s/it]
 95%|█████████▍| 852/900 [4:09:03<10:57, 13.70s/it]
 95%|█████████▍| 853/900 [4:09:03<07:38,  9.75s/it]
 95%|█████████▍| 854/900 [4:09:04<05:21,  6.98s/it]
 95%|█████████▌| 855/900 [4:09:04<03:46,  5.04s/it]
 95%|█████████▌| 856/900 [4:09:05<02:42,  3.68s/it]
 95%|█████████▌| 857/900 [4:10:13<16:29, 23.02s/it]
 95%|█████████▌| 858/900 [4:10:14<11:23, 16.27s/it]
 95%|█████████▌| 859/900 [4:10:14<07:53, 11.54s/it]
 96%|█████████▌| 860/900 [4:10:15<05:29,  8.23s/it]
 96%|█████████▌| 861/900 [4:10:15<03:50,  5.92s/it]
 96%|█████████▌| 862/900 [4:10:16<02:43,  4.30s/it]
 96%|█████████▌| 863/900 [4:10:16<01:57,  3.16s/it]
 96%|█████████▌| 864/900 [4:10:17<01:25,  2.37s/it]
 96%|█████████▌| 865/900 [4:12:38<25:44, 44.13s/it]
 96%|█████████▌| 866/900 [4:12:39<17:35, 31.05s/it]
 96%|█████████▋| 867/900 [4:12:39<12:02, 21.89s/it]
 96%|█████████▋| 868/900 [4:12:40<08:15, 15.47s/it]
 97%|█████████▋| 869/900 [4:12:40<05:40, 10.98s/it]
 97%|█████████▋| 870/900 [4:12:41<03:55,  7.84s/it]
 97%|█████████▋| 871/900 [4:12:41<02:43,  5.64s/it]
 97%|█████████▋| 872/900 [4:12:42<01:55,  4.12s/it]
 97%|█████████▋| 873/900 [4:13:49<10:20, 22.98s/it]
 97%|█████████▋| 874/900 [4:13:49<07:02, 16.24s/it]
 97%|█████████▋| 875/900 [4:13:50<04:48, 11.52s/it]
 97%|█████████▋| 876/900 [4:13:50<03:17,  8.22s/it]
 97%|█████████▋| 877/900 [4:13:51<02:15,  5.90s/it]
 98%|█████████▊| 878/900 [4:13:51<01:34,  4.29s/it]
 98%|█████████▊| 879/900 [4:13:52<01:06,  3.15s/it]
 98%|█████████▊| 880/900 [4:13:53<00:47,  2.36s/it]
 98%|█████████▊| 881/900 [4:13:53<00:36,  1.95s/it]
 98%|█████████▊| 882/900 [4:13:54<00:27,  1.52s/it]
 98%|█████████▊| 883/900 [4:13:55<00:20,  1.21s/it]
 98%|█████████▊| 884/900 [4:13:55<00:16,  1.01s/it]
 98%|█████████▊| 885/900 [4:13:56<00:12,  1.17it/s]
 98%|█████████▊| 886/900 [4:13:56<00:10,  1.33it/s]
 99%|█████████▊| 887/900 [4:13:57<00:08,  1.47it/s]
 99%|█████████▊| 888/900 [4:13:57<00:07,  1.58it/s]
 99%|█████████▉| 889/900 [4:13:58<00:08,  1.23it/s]
 99%|█████████▉| 890/900 [4:13:59<00:07,  1.38it/s]
 99%|█████████▉| 891/900 [4:13:59<00:05,  1.51it/s]
 99%|█████████▉| 892/900 [4:14:00<00:04,  1.62it/s]
 99%|█████████▉| 893/900 [4:14:00<00:04,  1.71it/s]
 99%|█████████▉| 894/900 [4:14:01<00:03,  1.77it/s]
 99%|█████████▉| 895/900 [4:14:01<00:02,  1.81it/s]
100%|█████████▉| 896/900 [4:14:02<00:02,  1.84it/s]
100%|█████████▉| 897/900 [4:14:03<00:02,  1.39it/s]
100%|█████████▉| 898/900 [4:14:04<00:01,  1.52it/s]
100%|█████████▉| 899/900 [4:14:04<00:00,  1.62it/s]
100%|█████████▉| 899/900 [4:14:05<00:16, 16.96s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_1_env0.json.
+SpoonInMugTask_1 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -15.080715533980012, 'joint_sparc_mean': -17.19827997095989, 'ee_isj': 29428.38155366637, 'joint_isj': 1260068.6099908338, 'ee_path_length': 10.768335249403044, 'joint_rmse_mean': 1.635198639017349, 'ee_speed_max': 3.504987955093384, 'ee_speed_mean': 0.1677710860967636}, events: {'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 5, 'OBJECT_BUMPED': 3, 'GRIPPER_HIT_TABLE': 2, 'wrong_objects_grabbed': ['granola_bars', 'wooden_bowl']}, instruction_type: default, timing: {'policy_inference_s': 14787.077, 'policy_inference_avg_ms': 16430.1, 'env_step_s': 451.409, 'env_step_avg_ms': 501.6, 'video_write_s': 6.099, 'video_write_avg_ms': 6.8, 'wall_total_s': 15244.585, 'it_per_sec': 0.06}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: 8afcdb11d4674e0197df89b41f2cbe50-1
+[RoboLab] Running SpoonInMugTask_2: 'Put the metal spoon that's in the wooden bowl in the mug' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:50<12:42:40, 50.90s/it]
  0%|          | 2/900 [00:51<5:18:17, 21.27s/it] 
  0%|          | 3/900 [00:51<2:56:15, 11.79s/it]
  0%|          | 4/900 [00:52<1:49:36,  7.34s/it]
  1%|          | 5/900 [00:52<1:12:47,  4.88s/it]
  1%|          | 6/900 [00:53<50:36,  3.40s/it]  
  1%|          | 7/900 [00:54<36:32,  2.46s/it]
  1%|          | 8/900 [00:54<27:19,  1.84s/it]
  1%|          | 9/900 [01:07<1:18:41,  5.30s/it]
  1%|          | 10/900 [01:07<56:40,  3.82s/it] 
  1%|          | 11/900 [01:08<41:38,  2.81s/it]
  1%|▏         | 12/900 [01:08<31:15,  2.11s/it]
  1%|▏         | 13/900 [01:09<24:03,  1.63s/it]
  2%|▏         | 14/900 [01:10<19:04,  1.29s/it]
  2%|▏         | 15/900 [01:10<15:37,  1.06s/it]
  2%|▏         | 16/900 [01:11<13:10,  1.12it/s]
  2%|▏         | 17/900 [01:48<2:53:53, 11.82s/it]
  2%|▏         | 18/900 [01:48<2:03:47,  8.42s/it]
  2%|▏         | 19/900 [01:49<1:28:45,  6.04s/it]
  2%|▏         | 20/900 [01:49<1:04:18,  4.38s/it]
  2%|▏         | 21/900 [01:50<47:13,  3.22s/it]  
  2%|▏         | 22/900 [01:50<35:15,  2.41s/it]
  3%|▎         | 23/900 [01:51<26:54,  1.84s/it]
  3%|▎         | 24/900 [01:51<21:04,  1.44s/it]
  3%|▎         | 25/900 [02:06<1:18:39,  5.39s/it]
  3%|▎         | 26/900 [02:06<57:19,  3.93s/it]  
  3%|▎         | 27/900 [02:07<42:21,  2.91s/it]
  3%|▎         | 28/900 [02:08<31:52,  2.19s/it]
  3%|▎         | 29/900 [02:08<24:31,  1.69s/it]
  3%|▎         | 30/900 [02:09<19:24,  1.34s/it]
  3%|▎         | 31/900 [02:09<15:47,  1.09s/it]
  4%|▎         | 32/900 [02:10<13:20,  1.08it/s]
  4%|▎         | 33/900 [02:30<1:36:37,  6.69s/it]
  4%|▍         | 34/900 [02:30<1:09:46,  4.83s/it]
  4%|▍         | 35/900 [02:31<51:00,  3.54s/it]  
  4%|▍         | 36/900 [02:31<37:53,  2.63s/it]
  4%|▍         | 37/900 [02:32<28:42,  2.00s/it]
  4%|▍         | 38/900 [02:32<22:16,  1.55s/it]
  4%|▍         | 39/900 [02:33<17:53,  1.25s/it]
  4%|▍         | 40/900 [02:33<14:46,  1.03s/it]
  5%|▍         | 41/900 [03:11<2:53:26, 12.12s/it]
  5%|▍         | 42/900 [03:12<2:03:37,  8.64s/it]
  5%|▍         | 43/900 [03:12<1:28:44,  6.21s/it]
  5%|▍         | 44/900 [03:13<1:04:19,  4.51s/it]
  5%|▌         | 45/900 [03:14<47:16,  3.32s/it]  
  5%|▌         | 46/900 [03:14<35:20,  2.48s/it]
  5%|▌         | 47/900 [03:15<27:00,  1.90s/it]
  5%|▌         | 48/900 [03:15<21:10,  1.49s/it]
  5%|▌         | 49/900 [03:43<2:11:56,  9.30s/it]
  6%|▌         | 50/900 [03:43<1:34:33,  6.67s/it]
  6%|▌         | 51/900 [03:44<1:08:25,  4.84s/it]
  6%|▌         | 52/900 [03:44<50:09,  3.55s/it]  
  6%|▌         | 53/900 [03:45<37:21,  2.65s/it]
  6%|▌         | 54/900 [03:45<28:23,  2.01s/it]
  6%|▌         | 55/900 [03:46<22:06,  1.57s/it]
  6%|▌         | 56/900 [03:46<17:43,  1.26s/it]
  6%|▋         | 57/900 [04:01<1:12:48,  5.18s/it]
  6%|▋         | 58/900 [04:01<53:10,  3.79s/it]  
  7%|▋         | 59/900 [04:02<39:40,  2.83s/it]
  7%|▋         | 60/900 [04:02<30:00,  2.14s/it]
  7%|▋         | 61/900 [04:03<23:21,  1.67s/it]
  7%|▋         | 62/900 [04:04<18:40,  1.34s/it]
  7%|▋         | 63/900 [04:04<15:21,  1.10s/it]
  7%|▋         | 64/900 [04:05<13:00,  1.07it/s]
  7%|▋         | 65/900 [04:39<2:33:53, 11.06s/it]
  7%|▋         | 66/900 [04:40<1:49:55,  7.91s/it]
  7%|▋         | 67/900 [04:40<1:19:08,  5.70s/it]
  8%|▊         | 68/900 [04:41<57:37,  4.16s/it]  
  8%|▊         | 69/900 [04:42<42:35,  3.07s/it]
  8%|▊         | 70/900 [04:42<32:04,  2.32s/it]
  8%|▊         | 71/900 [04:43<24:44,  1.79s/it]
  8%|▊         | 72/900 [04:43<19:38,  1.42s/it]
  8%|▊         | 73/900 [05:10<2:05:36,  9.11s/it]
  8%|▊         | 74/900 [05:11<1:30:06,  6.55s/it]
  8%|▊         | 75/900 [05:11<1:05:16,  4.75s/it]
  8%|▊         | 76/900 [05:12<47:54,  3.49s/it]  
  9%|▊         | 77/900 [05:13<35:46,  2.61s/it]
  9%|▊         | 78/900 [05:13<27:19,  1.99s/it]
  9%|▉         | 79/900 [05:14<21:22,  1.56s/it]
  9%|▉         | 80/900 [05:14<17:14,  1.26s/it]
  9%|▉         | 81/900 [05:51<2:42:31, 11.91s/it]
  9%|▉         | 82/900 [05:51<1:55:54,  8.50s/it]
  9%|▉         | 83/900 [05:52<1:23:18,  6.12s/it]
  9%|▉         | 84/900 [05:53<1:00:32,  4.45s/it]
  9%|▉         | 85/900 [05:53<44:36,  3.28s/it]  
 10%|▉         | 86/900 [05:54<33:27,  2.47s/it]
 10%|▉         | 87/900 [05:54<25:39,  1.89s/it]
 10%|▉         | 88/900 [05:55<20:12,  1.49s/it]
 10%|▉         | 89/900 [06:38<3:11:02, 14.13s/it]
 10%|█         | 90/900 [06:39<2:15:49, 10.06s/it]
 10%|█         | 91/900 [06:40<1:37:12,  7.21s/it]
 10%|█         | 92/900 [06:40<1:10:12,  5.21s/it]
 10%|█         | 93/900 [06:41<51:20,  3.82s/it]  
 10%|█         | 94/900 [06:41<38:05,  2.84s/it]
 11%|█         | 95/900 [06:42<28:51,  2.15s/it]
 11%|█         | 96/900 [06:42<22:24,  1.67s/it]
 11%|█         | 97/900 [07:06<1:51:32,  8.33s/it]
 11%|█         | 98/900 [07:07<1:20:04,  5.99s/it]
 11%|█         | 99/900 [07:07<58:01,  4.35s/it]  
 11%|█         | 100/900 [07:08<42:37,  3.20s/it]
 11%|█         | 101/900 [07:08<31:57,  2.40s/it]
 11%|█▏        | 102/900 [07:09<24:29,  1.84s/it]
 11%|█▏        | 103/900 [07:09<19:14,  1.45s/it]
 12%|█▏        | 104/900 [07:10<15:35,  1.17s/it]
 12%|█▏        | 105/900 [08:01<3:34:54, 16.22s/it]
 12%|█▏        | 106/900 [08:02<2:32:19, 11.51s/it]
 12%|█▏        | 107/900 [08:02<1:48:34,  8.21s/it]
 12%|█▏        | 108/900 [08:03<1:17:57,  5.91s/it]
 12%|█▏        | 109/900 [08:03<56:33,  4.29s/it]  
 12%|█▏        | 110/900 [08:04<41:35,  3.16s/it]
 12%|█▏        | 111/900 [08:04<31:08,  2.37s/it]
 12%|█▏        | 112/900 [08:05<23:48,  1.81s/it]
 13%|█▎        | 113/900 [08:50<3:13:21, 14.74s/it]
 13%|█▎        | 114/900 [08:50<2:17:13, 10.48s/it]
 13%|█▎        | 115/900 [08:51<1:37:58,  7.49s/it]
 13%|█▎        | 116/900 [08:51<1:10:32,  5.40s/it]
 13%|█▎        | 117/900 [08:52<51:20,  3.93s/it]  
 13%|█▎        | 118/900 [08:52<37:55,  2.91s/it]
 13%|█▎        | 119/900 [08:53<28:41,  2.20s/it]
 13%|█▎        | 120/900 [08:53<22:04,  1.70s/it]
 13%|█▎        | 121/900 [10:13<5:24:34, 25.00s/it]
 14%|█▎        | 122/900 [10:13<3:48:58, 17.66s/it]
 14%|█▎        | 123/900 [10:14<2:42:16, 12.53s/it]
 14%|█▍        | 124/900 [10:15<1:55:38,  8.94s/it]
 14%|█▍        | 125/900 [10:15<1:23:02,  6.43s/it]
 14%|█▍        | 126/900 [10:16<1:00:11,  4.67s/it]
 14%|█▍        | 127/900 [10:16<44:12,  3.43s/it]  
 14%|█▍        | 128/900 [10:17<32:57,  2.56s/it]
 14%|█▍        | 129/900 [10:44<2:07:43,  9.94s/it]
 14%|█▍        | 130/900 [10:44<1:31:15,  7.11s/it]
 15%|█▍        | 131/900 [10:45<1:05:47,  5.13s/it]
 15%|█▍        | 132/900 [10:45<47:57,  3.75s/it]  
 15%|█▍        | 133/900 [10:46<35:30,  2.78s/it]
 15%|█▍        | 134/900 [10:46<26:47,  2.10s/it]
 15%|█▌        | 135/900 [10:47<20:42,  1.62s/it]
 15%|█▌        | 136/900 [10:47<16:26,  1.29s/it]
 15%|█▌        | 137/900 [11:05<1:18:13,  6.15s/it]
 15%|█▌        | 138/900 [11:06<56:47,  4.47s/it]  
 15%|█▌        | 139/900 [11:06<41:48,  3.30s/it]
 16%|█▌        | 140/900 [11:07<31:22,  2.48s/it]
 16%|█▌        | 141/900 [11:07<24:06,  1.91s/it]
 16%|█▌        | 142/900 [11:08<18:55,  1.50s/it]
 16%|█▌        | 143/900 [11:08<15:11,  1.20s/it]
 16%|█▌        | 144/900 [11:09<12:34,  1.00it/s]
 16%|█▌        | 145/900 [11:33<1:40:56,  8.02s/it]
 16%|█▌        | 146/900 [11:34<1:12:49,  5.80s/it]
 16%|█▋        | 147/900 [11:34<53:09,  4.24s/it]  
 16%|█▋        | 148/900 [11:35<39:24,  3.14s/it]
 17%|█▋        | 149/900 [11:36<29:45,  2.38s/it]
 17%|█▋        | 150/900 [11:36<23:00,  1.84s/it]
 17%|█▋        | 151/900 [11:37<18:18,  1.47s/it]
 17%|█▋        | 152/900 [11:37<14:58,  1.20s/it]
 17%|█▋        | 153/900 [14:36<11:19:02, 54.54s/it]
 17%|█▋        | 154/900 [14:37<7:56:44, 38.34s/it] 
 17%|█▋        | 155/900 [14:37<5:35:18, 27.01s/it]
 17%|█▋        | 156/900 [14:38<3:56:25, 19.07s/it]
 17%|█▋        | 157/900 [14:39<2:47:16, 13.51s/it]
 18%|█▊        | 158/900 [14:39<1:58:57,  9.62s/it]
 18%|█▊        | 159/900 [14:40<1:25:10,  6.90s/it]
 18%|█▊        | 160/900 [14:40<1:01:34,  4.99s/it]
 18%|█▊        | 161/900 [15:56<5:23:40, 26.28s/it]
 18%|█▊        | 162/900 [15:57<3:48:16, 18.56s/it]
 18%|█▊        | 163/900 [15:57<2:41:34, 13.15s/it]
 18%|█▊        | 164/900 [15:58<1:54:57,  9.37s/it]
 18%|█▊        | 165/900 [15:58<1:22:22,  6.72s/it]
 18%|█▊        | 166/900 [15:59<59:35,  4.87s/it]  
 19%|█▊        | 167/900 [15:59<43:38,  3.57s/it]
 19%|█▊        | 168/900 [16:00<32:28,  2.66s/it]
 19%|█▉        | 169/900 [16:50<3:25:59, 16.91s/it]
 19%|█▉        | 170/900 [16:51<2:26:09, 12.01s/it]
 19%|█▉        | 171/900 [16:51<1:44:17,  8.58s/it]
 19%|█▉        | 172/900 [16:52<1:15:01,  6.18s/it]
 19%|█▉        | 173/900 [16:52<54:26,  4.49s/it]  
 19%|█▉        | 174/900 [16:53<40:04,  3.31s/it]
 19%|█▉        | 175/900 [16:53<30:01,  2.49s/it]
 20%|█▉        | 176/900 [16:54<22:59,  1.91s/it]
 20%|█▉        | 177/900 [17:13<1:23:55,  6.96s/it]
 20%|█▉        | 178/900 [17:13<1:00:38,  5.04s/it]
 20%|█▉        | 179/900 [17:14<44:23,  3.69s/it]  
 20%|██        | 180/900 [17:14<32:59,  2.75s/it]
 20%|██        | 181/900 [17:15<24:59,  2.09s/it]
 20%|██        | 182/900 [17:16<19:25,  1.62s/it]
 20%|██        | 183/900 [17:16<15:32,  1.30s/it]
 20%|██        | 184/900 [17:17<12:49,  1.07s/it]
 21%|██        | 185/900 [17:49<2:06:20, 10.60s/it]
 21%|██        | 186/900 [17:50<1:30:29,  7.60s/it]
 21%|██        | 187/900 [17:51<1:05:17,  5.49s/it]
 21%|██        | 188/900 [17:51<47:35,  4.01s/it]  
 21%|██        | 189/900 [17:52<35:12,  2.97s/it]
 21%|██        | 190/900 [17:52<26:32,  2.24s/it]
 21%|██        | 191/900 [17:53<20:29,  1.73s/it]
 21%|██▏       | 192/900 [17:53<16:13,  1.38s/it]
 21%|██▏       | 193/900 [21:02<11:19:44, 57.69s/it]
 22%|██▏       | 194/900 [21:03<7:57:04, 40.54s/it] 
 22%|██▏       | 195/900 [21:04<5:35:23, 28.54s/it]
 22%|██▏       | 196/900 [21:04<3:56:22, 20.15s/it]
 22%|██▏       | 197/900 [21:05<2:47:06, 14.26s/it]
 22%|██▏       | 198/900 [21:05<1:58:43, 10.15s/it]
 22%|██▏       | 199/900 [21:06<1:24:52,  7.26s/it]
 22%|██▏       | 199/900 [21:06<1:14:22,  6.37s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_2_env0.json.
+SpoonInMugTask_2 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 200, duration: 13.333333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.369181767854627, 'joint_sparc_mean': -7.226882096911516, 'ee_isj': 925.7153906575597, 'joint_isj': 30426.70084527505, 'ee_path_length': 1.765948191786832, 'joint_rmse_mean': 0.7994972123167309, 'ee_speed_max': 0.4473135769367218, 'ee_speed_mean': 0.12640495598316193}, events: {'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 1163.615, 'policy_inference_avg_ms': 5818.1, 'env_step_s': 101.233, 'env_step_avg_ms': 506.2, 'video_write_s': 1.869, 'video_write_avg_ms': 9.3, 'wall_total_s': 1266.717, 'it_per_sec': 0.16}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 405ff10fa42d4d8b9f69db6d40af1a36-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T11:58:59Z [16,667,203ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.208647 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T11:59:03Z [16,670,976ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T11:59:03Z [16,670,976ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T11:59:03Z [16,670,985ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T11:59:03Z [16,670,985ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T11:59:03Z [16,670,997ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T11:59:03Z [16,671,003ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T11:59:03Z [16,671,019ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-02T11:59:04Z [16,671,758ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-02T11:59:04Z [16,671,758ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-02T11:59:04Z [16,672,140ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((370))' not available in the MDL representation.
+2026-11-02T11:59:04Z [16,672,140ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((370))' not available in the MDL representation.
+2026-11-02T11:59:05Z [16,672,335ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-11-02T11:59:05Z [16,672,335ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-11-02T11:59:05Z [16,672,343ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation.
+2026-11-02T11:59:05Z [16,672,343ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation.
+2026-11-02T11:59:05Z [16,672,364ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-11-02T11:59:05Z [16,672,364ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-11-02T11:59:06Z [16,673,579ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-11-02T11:59:06Z [16,673,579ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-11-02T11:59:06Z [16,673,615ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-02T11:59:06Z [16,673,615ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-02T11:59:06Z [16,673,652ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((441))' not available in the MDL representation.
+2026-11-02T11:59:06Z [16,673,652ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((441))' not available in the MDL representation.
+2026-11-02T11:59:07Z [16,675,251ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((514))' not available in the MDL representation.
+2026-11-02T11:59:07Z [16,675,252ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((514))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,803ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,803ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,804ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((370))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,804ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((370))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,804ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,804ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,805ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,805ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((375))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,806ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,806ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,809ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-02T11:59:08Z [16,675,809ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.508600 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ClampInRightBinTask                           │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the spring clamp in the right bin         │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ClampInRightBinTaskSceneEnvCfg                │
+│  Attributes  : semantics, spatial, simple                    │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ClampInRightBinTask_0: 'Put the spring clamp in the right bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:41<10:20:55, 41.44s/it]
  0%|          | 2/900 [00:41<4:17:56, 17.23s/it] 
  0%|          | 3/900 [00:42<2:21:56,  9.49s/it]
  0%|          | 4/900 [00:42<1:27:28,  5.86s/it]
  1%|          | 5/900 [00:42<57:23,  3.85s/it]  
  1%|          | 6/900 [00:42<39:15,  2.63s/it]
  1%|          | 7/900 [00:43<27:45,  1.86s/it]
  1%|          | 8/900 [00:43<20:13,  1.36s/it]
  1%|          | 9/900 [01:01<1:37:04,  6.54s/it]
  1%|          | 10/900 [01:01<1:08:19,  4.61s/it]
  1%|          | 11/900 [01:01<48:38,  3.28s/it]  
  1%|▏         | 12/900 [01:02<35:03,  2.37s/it]
  1%|▏         | 13/900 [01:02<25:42,  1.74s/it]
  2%|▏         | 14/900 [01:02<19:12,  1.30s/it]
  2%|▏         | 15/900 [01:03<14:39,  1.01it/s]
  2%|▏         | 16/900 [01:03<11:28,  1.28it/s]
  2%|▏         | 17/900 [01:34<2:28:03, 10.06s/it]
  2%|▏         | 18/900 [01:35<1:44:44,  7.13s/it]
  2%|▏         | 19/900 [01:35<1:14:29,  5.07s/it]
  2%|▏         | 20/900 [01:35<53:19,  3.64s/it]  
  2%|▏         | 21/900 [01:36<38:31,  2.63s/it]
  2%|▏         | 22/900 [01:36<28:11,  1.93s/it]
  3%|▎         | 23/900 [01:36<20:56,  1.43s/it]
  3%|▎         | 24/900 [01:36<15:53,  1.09s/it]
  3%|▎         | 25/900 [01:54<1:25:51,  5.89s/it]
  3%|▎         | 26/900 [01:54<1:01:18,  4.21s/it]
  3%|▎         | 27/900 [01:54<44:04,  3.03s/it]  
  3%|▎         | 28/900 [01:54<32:03,  2.21s/it]
  3%|▎         | 29/900 [01:55<23:38,  1.63s/it]
  3%|▎         | 30/900 [01:55<17:45,  1.22s/it]
  3%|▎         | 31/900 [01:55<13:38,  1.06it/s]
  4%|▎         | 32/900 [01:56<10:45,  1.34it/s]
  4%|▎         | 33/900 [02:14<1:28:09,  6.10s/it]
  4%|▍         | 34/900 [02:14<1:02:56,  4.36s/it]
  4%|▍         | 35/900 [02:15<45:16,  3.14s/it]  
  4%|▍         | 36/900 [02:15<32:55,  2.29s/it]
  4%|▍         | 37/900 [02:15<24:17,  1.69s/it]
  4%|▍         | 38/900 [02:16<18:14,  1.27s/it]
  4%|▍         | 39/900 [02:16<14:09,  1.01it/s]
  4%|▍         | 40/900 [02:16<11:15,  1.27it/s]
  5%|▍         | 41/900 [04:42<10:35:29, 44.39s/it]
  5%|▍         | 42/900 [04:43<7:25:39, 31.17s/it] 
  5%|▍         | 43/900 [04:43<5:12:57, 21.91s/it]
  5%|▍         | 44/900 [04:43<3:40:08, 15.43s/it]
  5%|▌         | 45/900 [04:44<2:35:15, 10.90s/it]
  5%|▌         | 46/900 [04:44<1:49:51,  7.72s/it]
  5%|▌         | 47/900 [04:44<1:18:07,  5.50s/it]
  5%|▌         | 48/900 [04:45<55:58,  3.94s/it]  
  5%|▌         | 49/900 [05:22<3:18:49, 14.02s/it]
  6%|▌         | 50/900 [05:22<2:20:24,  9.91s/it]
  6%|▌         | 51/900 [05:23<1:39:33,  7.04s/it]
  6%|▌         | 52/900 [05:23<1:10:59,  5.02s/it]
  6%|▌         | 53/900 [05:23<50:57,  3.61s/it]  
  6%|▌         | 54/900 [05:24<36:57,  2.62s/it]
  6%|▌         | 55/900 [05:24<27:10,  1.93s/it]
  6%|▌         | 56/900 [05:24<20:19,  1.45s/it]
  6%|▋         | 57/900 [05:53<2:17:05,  9.76s/it]
  6%|▋         | 58/900 [05:54<1:37:11,  6.93s/it]
  7%|▋         | 59/900 [05:54<1:09:19,  4.95s/it]
  7%|▋         | 60/900 [05:54<49:43,  3.55s/it]  
  7%|▋         | 61/900 [05:55<35:59,  2.57s/it]
  7%|▋         | 62/900 [05:55<26:22,  1.89s/it]
  7%|▋         | 63/900 [05:55<19:39,  1.41s/it]
  7%|▋         | 64/900 [05:56<14:57,  1.07s/it]
  7%|▋         | 65/900 [06:34<2:51:27, 12.32s/it]
  7%|▋         | 66/900 [06:34<2:01:06,  8.71s/it]
  7%|▋         | 67/900 [06:35<1:25:53,  6.19s/it]
  8%|▊         | 68/900 [06:35<1:01:14,  4.42s/it]
  8%|▊         | 69/900 [06:35<44:00,  3.18s/it]  
  8%|▊         | 70/900 [06:36<31:58,  2.31s/it]
  8%|▊         | 71/900 [06:36<23:33,  1.70s/it]
  8%|▊         | 72/900 [06:36<17:40,  1.28s/it]
  8%|▊         | 73/900 [07:09<2:27:31, 10.70s/it]
  8%|▊         | 74/900 [07:09<1:44:20,  7.58s/it]
  8%|▊         | 75/900 [07:09<1:14:09,  5.39s/it]
  8%|▊         | 76/900 [07:10<53:01,  3.86s/it]  
  9%|▊         | 77/900 [07:10<38:16,  2.79s/it]
  9%|▊         | 78/900 [07:10<27:59,  2.04s/it]
  9%|▉         | 79/900 [07:11<20:46,  1.52s/it]
  9%|▉         | 80/900 [07:11<15:41,  1.15s/it]
  9%|▉         | 81/900 [07:53<3:03:13, 13.42s/it]
  9%|▉         | 82/900 [07:53<2:09:17,  9.48s/it]
  9%|▉         | 83/900 [07:54<1:31:33,  6.72s/it]
  9%|▉         | 84/900 [07:54<1:05:12,  4.80s/it]
  9%|▉         | 85/900 [07:54<46:46,  3.44s/it]  
 10%|▉         | 86/900 [07:54<33:52,  2.50s/it]
 10%|▉         | 87/900 [07:55<24:51,  1.84s/it]
 10%|▉         | 88/900 [07:55<18:40,  1.38s/it]
 10%|▉         | 89/900 [08:22<2:02:30,  9.06s/it]
 10%|█         | 90/900 [08:22<1:26:55,  6.44s/it]
 10%|█         | 91/900 [08:23<1:02:01,  4.60s/it]
 10%|█         | 92/900 [08:23<44:39,  3.32s/it]  
 10%|█         | 93/900 [08:23<32:33,  2.42s/it]
 10%|█         | 94/900 [08:24<24:02,  1.79s/it]
 11%|█         | 95/900 [08:24<18:03,  1.35s/it]
 11%|█         | 96/900 [08:24<13:53,  1.04s/it]
 11%|█         | 97/900 [08:41<1:14:58,  5.60s/it]
 11%|█         | 98/900 [08:41<53:41,  4.02s/it]  
 11%|█         | 99/900 [08:41<38:47,  2.91s/it]
 11%|█         | 100/900 [08:41<28:21,  2.13s/it]
 11%|█         | 101/900 [08:42<21:03,  1.58s/it]
 11%|█▏        | 102/900 [08:42<15:57,  1.20s/it]
 11%|█▏        | 103/900 [08:42<12:18,  1.08it/s]
 12%|█▏        | 104/900 [08:43<09:44,  1.36it/s]
 12%|█▏        | 105/900 [09:09<1:50:19,  8.33s/it]
 12%|█▏        | 106/900 [09:09<1:18:16,  5.92s/it]
 12%|█▏        | 107/900 [09:09<55:51,  4.23s/it]  
 12%|█▏        | 108/900 [09:10<40:11,  3.05s/it]
 12%|█▏        | 109/900 [09:10<29:14,  2.22s/it]
 12%|█▏        | 110/900 [09:10<21:34,  1.64s/it]
 12%|█▏        | 111/900 [09:10<16:13,  1.23s/it]
 12%|█▏        | 112/900 [09:11<12:27,  1.05it/s]
 13%|█▎        | 113/900 [12:16<12:18:41, 56.32s/it]
 13%|█▎        | 114/900 [12:16<8:37:33, 39.51s/it] 
 13%|█▎        | 115/900 [12:17<6:02:57, 27.74s/it]
 13%|█▎        | 116/900 [12:17<4:14:53, 19.51s/it]
 13%|█▎        | 117/900 [12:17<2:59:18, 13.74s/it]
 13%|█▎        | 118/900 [12:18<2:06:29,  9.70s/it]
 13%|█▎        | 119/900 [12:18<1:29:33,  6.88s/it]
 13%|█▎        | 120/900 [12:18<1:03:45,  4.90s/it]
 13%|█▎        | 121/900 [12:34<1:47:53,  8.31s/it]
 14%|█▎        | 122/900 [12:35<1:16:32,  5.90s/it]
 14%|█▎        | 123/900 [12:35<54:37,  4.22s/it]  
 14%|█▍        | 124/900 [12:35<39:17,  3.04s/it]
 14%|█▍        | 125/900 [12:36<28:34,  2.21s/it]
 14%|█▍        | 126/900 [12:36<21:05,  1.64s/it]
 14%|█▍        | 127/900 [12:36<15:50,  1.23s/it]
 14%|█▍        | 128/900 [12:36<12:11,  1.05it/s]
 14%|█▍        | 129/900 [15:27<11:06:09, 51.84s/it]
 14%|█▍        | 130/900 [15:27<7:46:55, 36.38s/it] 
 15%|█▍        | 131/900 [15:28<5:27:38, 25.56s/it]
 15%|█▍        | 132/900 [15:28<3:50:13, 17.99s/it]
 15%|█▍        | 133/900 [15:28<2:42:08, 12.68s/it]
 15%|█▍        | 134/900 [15:29<1:54:31,  8.97s/it]
 15%|█▌        | 135/900 [15:29<1:21:13,  6.37s/it]
 15%|█▌        | 136/900 [15:29<57:58,  4.55s/it]  
 15%|█▌        | 137/900 [16:23<4:07:01, 19.42s/it]
 15%|█▌        | 138/900 [16:24<2:53:53, 13.69s/it]
 15%|█▌        | 139/900 [16:24<2:02:44,  9.68s/it]
 16%|█▌        | 140/900 [16:24<1:26:58,  6.87s/it]
 16%|█▌        | 141/900 [16:25<1:01:59,  4.90s/it]
 16%|█▌        | 142/900 [16:25<44:32,  3.53s/it]  
 16%|█▌        | 143/900 [16:25<32:18,  2.56s/it]
 16%|█▌        | 144/900 [16:26<23:47,  1.89s/it]
 16%|█▌        | 145/900 [17:29<4:14:42, 20.24s/it]
 16%|█▌        | 146/900 [17:29<2:59:11, 14.26s/it]
 16%|█▋        | 147/900 [17:29<2:06:22, 10.07s/it]
 16%|█▋        | 148/900 [17:30<1:29:26,  7.14s/it]
 17%|█▋        | 149/900 [17:30<1:03:37,  5.08s/it]
 17%|█▋        | 150/900 [17:30<45:33,  3.64s/it]  
 17%|█▋        | 151/900 [17:30<32:55,  2.64s/it]
 17%|█▋        | 152/900 [17:31<24:04,  1.93s/it]
 17%|█▋        | 153/900 [18:58<5:42:04, 27.48s/it]
 17%|█▋        | 154/900 [18:58<4:00:12, 19.32s/it]
 17%|█▋        | 155/900 [18:58<2:49:00, 13.61s/it]
 17%|█▋        | 156/900 [18:59<1:59:13,  9.61s/it]
 17%|█▋        | 157/900 [18:59<1:24:24,  6.82s/it]
 18%|█▊        | 158/900 [18:59<1:00:05,  4.86s/it]
 18%|█▊        | 159/900 [19:00<43:06,  3.49s/it]  
 18%|█▊        | 160/900 [19:00<31:12,  2.53s/it]
 18%|█▊        | 161/900 [19:36<2:35:46, 12.65s/it]
 18%|█▊        | 162/900 [19:36<1:49:58,  8.94s/it]
 18%|█▊        | 163/900 [19:37<1:17:55,  6.34s/it]
 18%|█▊        | 164/900 [19:37<55:32,  4.53s/it]  
 18%|█▊        | 165/900 [19:37<39:52,  3.26s/it]
 18%|█▊        | 166/900 [19:37<28:56,  2.37s/it]
 19%|█▊        | 167/900 [19:38<21:16,  1.74s/it]
 19%|█▊        | 168/900 [19:38<15:56,  1.31s/it]
 19%|█▉        | 169/900 [21:52<8:20:51, 41.11s/it]
 19%|█▉        | 170/900 [21:52<5:51:13, 28.87s/it]
 19%|█▉        | 171/900 [21:53<4:06:38, 20.30s/it]
 19%|█▉        | 172/900 [21:53<2:53:32, 14.30s/it]
 19%|█▉        | 173/900 [21:53<2:02:26, 10.11s/it]
 19%|█▉        | 174/900 [21:54<1:26:44,  7.17s/it]
 19%|█▉        | 175/900 [21:54<1:01:45,  5.11s/it]
 20%|█▉        | 176/900 [21:54<44:16,  3.67s/it]  
 20%|█▉        | 177/900 [23:00<4:29:03, 22.33s/it]
 20%|█▉        | 178/900 [23:00<3:09:07, 15.72s/it]
 20%|█▉        | 179/900 [23:01<2:13:15, 11.09s/it]
 20%|██        | 180/900 [23:01<1:34:12,  7.85s/it]
 20%|██        | 181/900 [23:01<1:06:54,  5.58s/it]
 20%|██        | 182/900 [23:02<47:49,  4.00s/it]  
 20%|██        | 183/900 [23:02<34:28,  2.88s/it]
 20%|██        | 184/900 [23:02<25:08,  2.11s/it]
 21%|██        | 185/900 [23:32<2:06:06, 10.58s/it]
 21%|██        | 186/900 [23:33<1:29:12,  7.50s/it]
 21%|██        | 187/900 [23:33<1:03:24,  5.34s/it]
 21%|██        | 188/900 [23:33<45:23,  3.82s/it]  
 21%|██        | 189/900 [23:34<32:44,  2.76s/it]
 21%|██        | 190/900 [23:34<23:55,  2.02s/it]
 21%|██        | 191/900 [23:34<17:45,  1.50s/it]
 21%|██▏       | 192/900 [23:35<13:26,  1.14s/it]
 21%|██▏       | 193/900 [24:23<3:00:40, 15.33s/it]
 22%|██▏       | 194/900 [24:23<2:07:19, 10.82s/it]
 22%|██▏       | 195/900 [24:24<1:30:00,  7.66s/it]
 22%|██▏       | 196/900 [24:24<1:03:56,  5.45s/it]
 22%|██▏       | 197/900 [24:24<45:42,  3.90s/it]  
 22%|██▏       | 198/900 [24:24<32:57,  2.82s/it]
 22%|██▏       | 199/900 [24:25<24:04,  2.06s/it]
 22%|██▏       | 200/900 [24:25<17:51,  1.53s/it]
 22%|██▏       | 201/900 [25:11<2:52:10, 14.78s/it]
 22%|██▏       | 202/900 [25:11<2:01:21, 10.43s/it]
 23%|██▎       | 203/900 [25:11<1:25:52,  7.39s/it]
 23%|██▎       | 204/900 [25:12<1:01:03,  5.26s/it]
 23%|██▎       | 205/900 [25:12<43:46,  3.78s/it]  
 23%|██▎       | 206/900 [25:12<31:41,  2.74s/it]
 23%|██▎       | 207/900 [25:13<23:16,  2.01s/it]
 23%|██▎       | 208/900 [25:13<17:24,  1.51s/it]
 23%|██▎       | 209/900 [25:54<2:33:42, 13.35s/it]
 23%|██▎       | 210/900 [25:54<1:48:29,  9.43s/it]
 23%|██▎       | 211/900 [25:54<1:16:52,  6.69s/it]
 24%|██▎       | 212/900 [25:55<54:46,  4.78s/it]  
 24%|██▎       | 213/900 [25:55<39:18,  3.43s/it]
 24%|██▍       | 214/900 [25:55<28:30,  2.49s/it]
 24%|██▍       | 215/900 [25:56<20:58,  1.84s/it]
 24%|██▍       | 216/900 [25:56<15:41,  1.38s/it]
 24%|██▍       | 217/900 [26:57<3:40:20, 19.36s/it]
 24%|██▍       | 218/900 [26:58<2:35:01, 13.64s/it]
 24%|██▍       | 219/900 [26:58<1:49:25,  9.64s/it]
 24%|██▍       | 220/900 [26:58<1:17:35,  6.85s/it]
 25%|██▍       | 221/900 [26:59<55:21,  4.89s/it]  
 25%|██▍       | 222/900 [26:59<39:46,  3.52s/it]
 25%|██▍       | 223/900 [26:59<28:51,  2.56s/it]
 25%|██▍       | 224/900 [27:00<21:15,  1.89s/it]
 25%|██▌       | 225/900 [27:35<2:15:19, 12.03s/it]
 25%|██▌       | 226/900 [27:36<1:35:39,  8.51s/it]
 25%|██▌       | 227/900 [27:36<1:07:55,  6.06s/it]
 25%|██▌       | 228/900 [27:36<48:31,  4.33s/it]  
 25%|██▌       | 229/900 [27:36<34:59,  3.13s/it]
 26%|██▌       | 230/900 [27:37<25:30,  2.28s/it]
 26%|██▌       | 231/900 [27:37<18:53,  1.69s/it]
 26%|██▌       | 232/900 [27:37<14:14,  1.28s/it]
 26%|██▌       | 233/900 [28:10<1:59:25, 10.74s/it]
 26%|██▌       | 234/900 [28:11<1:24:32,  7.62s/it]
 26%|██▌       | 235/900 [28:11<1:00:08,  5.43s/it]
 26%|██▌       | 236/900 [28:11<43:04,  3.89s/it]  
 26%|██▋       | 237/900 [28:11<31:09,  2.82s/it]
 26%|██▋       | 238/900 [28:12<22:49,  2.07s/it]
 27%|██▋       | 239/900 [28:12<16:59,  1.54s/it]
 27%|██▋       | 240/900 [28:12<12:54,  1.17s/it]
 27%|██▋       | 241/900 [28:56<2:33:39, 13.99s/it]
 27%|██▋       | 242/900 [28:57<1:48:32,  9.90s/it]
 27%|██▋       | 243/900 [28:57<1:16:54,  7.02s/it]
 27%|██▋       | 244/900 [28:57<54:47,  5.01s/it]  
 27%|██▋       | 245/900 [28:58<39:19,  3.60s/it]
 27%|██▋       | 246/900 [28:58<28:36,  2.63s/it]
 27%|██▋       | 247/900 [28:58<21:05,  1.94s/it]
 28%|██▊       | 248/900 [28:59<15:46,  1.45s/it]
 28%|██▊       | 249/900 [29:24<1:34:20,  8.70s/it]
 28%|██▊       | 250/900 [29:25<1:06:58,  6.18s/it]
 28%|██▊       | 251/900 [29:25<47:50,  4.42s/it]  
 28%|██▊       | 252/900 [29:25<34:26,  3.19s/it]
 28%|██▊       | 253/900 [29:25<25:05,  2.33s/it]
 28%|██▊       | 254/900 [29:26<18:32,  1.72s/it]
 28%|██▊       | 255/900 [29:26<13:58,  1.30s/it]
 28%|██▊       | 256/900 [29:26<10:45,  1.00s/it]
 29%|██▊       | 257/900 [32:24<9:38:53, 54.02s/it]
 29%|██▊       | 258/900 [32:24<6:45:37, 37.91s/it]
 29%|██▊       | 258/900 [32:25<1:20:40,  7.54s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json.
+ClampInRightBinTask_0 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: True, episode_step: 259, duration: 17.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.153745794044064, 'joint_sparc_mean': -9.173208186837096, 'ee_isj': 1103.4474983159146, 'joint_isj': 27592.36107670908, 'ee_path_length': 2.163613617028062, 'joint_rmse_mean': 1.0360283944282311, 'ee_speed_max': 0.3710932731628418, 'ee_speed_mean': 0.12088541686534882}, events: {'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 4, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1873.79, 'policy_inference_avg_ms': 7234.7, 'env_step_s': 68.505, 'env_step_avg_ms': 264.5, 'video_write_s': 2.91, 'video_write_avg_ms': 11.2, 'wall_total_s': 1945.206, 'it_per_sec': 0.13}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 02b178ae8f104c95af81c4ec324fdabf-0
+[RoboLab] Running ClampInRightBinTask_1: 'Put the spring clamp in the right bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:17<19:20:56, 77.48s/it]
  0%|          | 2/900 [01:17<8:00:14, 32.09s/it] 
  0%|          | 3/900 [01:18<4:22:39, 17.57s/it]
  0%|          | 4/900 [01:18<2:40:29, 10.75s/it]
  1%|          | 5/900 [01:18<1:44:01,  6.97s/it]
  1%|          | 6/900 [01:18<1:10:02,  4.70s/it]
  1%|          | 7/900 [01:19<48:27,  3.26s/it]  
  1%|          | 8/900 [01:19<34:21,  2.31s/it]
  1%|          | 9/900 [01:36<1:42:14,  6.88s/it]
  1%|          | 10/900 [01:36<1:11:55,  4.85s/it]
  1%|          | 11/900 [01:37<51:08,  3.45s/it]  
  1%|▏         | 12/900 [01:37<36:51,  2.49s/it]
  1%|▏         | 13/900 [01:37<26:55,  1.82s/it]
  2%|▏         | 14/900 [01:37<20:04,  1.36s/it]
  2%|▏         | 15/900 [01:38<15:16,  1.04s/it]
  2%|▏         | 16/900 [01:38<11:55,  1.23it/s]
  2%|▏         | 17/900 [01:56<1:29:09,  6.06s/it]
  2%|▏         | 18/900 [01:57<1:03:33,  4.32s/it]
  2%|▏         | 19/900 [01:57<45:41,  3.11s/it]  
  2%|▏         | 20/900 [01:57<33:09,  2.26s/it]
  2%|▏         | 21/900 [01:57<24:27,  1.67s/it]
  2%|▏         | 22/900 [01:58<18:21,  1.25s/it]
  3%|▎         | 23/900 [01:58<14:05,  1.04it/s]
  3%|▎         | 24/900 [01:58<11:07,  1.31it/s]
  3%|▎         | 25/900 [02:13<1:13:11,  5.02s/it]
  3%|▎         | 26/900 [02:13<52:27,  3.60s/it]  
  3%|▎         | 27/900 [02:14<37:56,  2.61s/it]
  3%|▎         | 28/900 [02:14<27:46,  1.91s/it]
  3%|▎         | 29/900 [02:14<20:41,  1.43s/it]
  3%|▎         | 30/900 [02:15<15:44,  1.09s/it]
  3%|▎         | 31/900 [02:15<12:16,  1.18it/s]
  4%|▎         | 32/900 [02:15<09:50,  1.47it/s]
  4%|▎         | 33/900 [02:31<1:16:42,  5.31s/it]
  4%|▍         | 34/900 [02:32<54:53,  3.80s/it]  
  4%|▍         | 35/900 [02:32<39:38,  2.75s/it]
  4%|▍         | 36/900 [02:32<28:58,  2.01s/it]
  4%|▍         | 37/900 [02:32<21:30,  1.50s/it]
  4%|▍         | 38/900 [02:33<16:17,  1.13s/it]
  4%|▍         | 39/900 [02:33<12:38,  1.14it/s]
  4%|▍         | 40/900 [02:33<10:04,  1.42it/s]
  5%|▍         | 41/900 [02:54<1:34:57,  6.63s/it]
  5%|▍         | 42/900 [02:54<1:07:38,  4.73s/it]
  5%|▍         | 43/900 [02:54<48:31,  3.40s/it]  
  5%|▍         | 44/900 [02:55<35:10,  2.47s/it]
  5%|▌         | 45/900 [02:55<25:54,  1.82s/it]
  5%|▌         | 46/900 [02:55<19:26,  1.37s/it]
  5%|▌         | 47/900 [02:56<14:55,  1.05s/it]
  5%|▌         | 48/900 [02:56<11:44,  1.21it/s]
  5%|▌         | 49/900 [03:16<1:32:33,  6.53s/it]
  6%|▌         | 50/900 [03:16<1:06:04,  4.66s/it]
  6%|▌         | 51/900 [03:16<47:30,  3.36s/it]  
  6%|▌         | 52/900 [03:17<34:32,  2.44s/it]
  6%|▌         | 53/900 [03:17<25:24,  1.80s/it]
  6%|▌         | 54/900 [03:17<19:00,  1.35s/it]
  6%|▌         | 55/900 [03:18<14:32,  1.03s/it]
  6%|▌         | 56/900 [03:18<11:27,  1.23it/s]
  6%|▋         | 57/900 [03:39<1:38:26,  7.01s/it]
  6%|▋         | 58/900 [03:40<1:10:11,  5.00s/it]
  7%|▋         | 59/900 [03:40<50:26,  3.60s/it]  
  7%|▋         | 60/900 [03:40<36:35,  2.61s/it]
  7%|▋         | 61/900 [03:41<26:54,  1.92s/it]
  7%|▋         | 62/900 [03:41<20:06,  1.44s/it]
  7%|▋         | 63/900 [03:41<15:22,  1.10s/it]
  7%|▋         | 64/900 [03:42<12:03,  1.16it/s]
  7%|▋         | 65/900 [04:14<2:22:42, 10.25s/it]
  7%|▋         | 66/900 [04:14<1:41:04,  7.27s/it]
  7%|▋         | 67/900 [04:14<1:11:52,  5.18s/it]
  8%|▊         | 68/900 [04:15<51:27,  3.71s/it]  
  8%|▊         | 69/900 [04:15<37:12,  2.69s/it]
  8%|▊         | 70/900 [04:15<27:13,  1.97s/it]
  8%|▊         | 71/900 [04:16<20:15,  1.47s/it]
  8%|▊         | 72/900 [04:16<15:21,  1.11s/it]
  8%|▊         | 73/900 [04:51<2:34:43, 11.23s/it]
  8%|▊         | 74/900 [04:51<1:49:22,  7.94s/it]
  8%|▊         | 75/900 [04:51<1:17:38,  5.65s/it]
  8%|▊         | 76/900 [04:51<55:28,  4.04s/it]  
  9%|▊         | 77/900 [04:52<39:58,  2.91s/it]
  9%|▊         | 78/900 [04:52<29:07,  2.13s/it]
  9%|▉         | 79/900 [04:52<21:32,  1.57s/it]
  9%|▉         | 80/900 [04:53<16:14,  1.19s/it]
  9%|▉         | 81/900 [05:21<2:09:15,  9.47s/it]
  9%|▉         | 82/900 [05:22<1:31:34,  6.72s/it]
  9%|▉         | 83/900 [05:22<1:05:12,  4.79s/it]
  9%|▉         | 84/900 [05:22<46:46,  3.44s/it]  
  9%|▉         | 85/900 [05:23<33:53,  2.50s/it]
 10%|▉         | 86/900 [05:23<24:53,  1.84s/it]
 10%|▉         | 87/900 [05:23<18:40,  1.38s/it]
 10%|▉         | 88/900 [05:24<14:16,  1.06s/it]
 10%|▉         | 89/900 [05:52<2:07:16,  9.42s/it]
 10%|█         | 90/900 [05:53<1:30:12,  6.68s/it]
 10%|█         | 91/900 [05:53<1:04:18,  4.77s/it]
 10%|█         | 92/900 [05:53<46:10,  3.43s/it]  
 10%|█         | 93/900 [05:54<33:31,  2.49s/it]
 10%|█         | 94/900 [05:54<24:39,  1.84s/it]
 11%|█         | 95/900 [05:54<18:26,  1.37s/it]
 11%|█         | 96/900 [05:55<14:05,  1.05s/it]
 11%|█         | 97/900 [06:22<1:58:52,  8.88s/it]
 11%|█         | 98/900 [06:22<1:24:16,  6.30s/it]
 11%|█         | 99/900 [06:22<1:00:03,  4.50s/it]
 11%|█         | 100/900 [06:23<43:07,  3.23s/it] 
 11%|█         | 101/900 [06:23<31:18,  2.35s/it]
 11%|█▏        | 102/900 [06:23<23:02,  1.73s/it]
 11%|█▏        | 103/900 [06:23<17:15,  1.30s/it]
 12%|█▏        | 104/900 [06:24<13:12,  1.00it/s]
 12%|█▏        | 105/900 [07:00<2:35:27, 11.73s/it]
 12%|█▏        | 106/900 [07:01<1:49:49,  8.30s/it]
 12%|█▏        | 107/900 [07:01<1:17:55,  5.90s/it]
 12%|█▏        | 108/900 [07:01<55:37,  4.21s/it]  
 12%|█▏        | 109/900 [07:02<40:01,  3.04s/it]
 12%|█▏        | 110/900 [07:02<29:07,  2.21s/it]
 12%|█▏        | 111/900 [07:02<21:30,  1.64s/it]
 12%|█▏        | 112/900 [07:03<16:09,  1.23s/it]
 13%|█▎        | 113/900 [07:21<1:25:54,  6.55s/it]
 13%|█▎        | 114/900 [07:22<1:01:11,  4.67s/it]
 13%|█▎        | 115/900 [07:22<43:54,  3.36s/it]  
 13%|█▎        | 116/900 [07:22<31:49,  2.44s/it]
 13%|█▎        | 117/900 [07:23<23:22,  1.79s/it]
 13%|█▎        | 118/900 [07:23<17:27,  1.34s/it]
 13%|█▎        | 119/900 [07:23<13:19,  1.02s/it]
 13%|█▎        | 120/900 [07:23<10:26,  1.25it/s]
 13%|█▎        | 121/900 [07:56<2:15:18, 10.42s/it]
 14%|█▎        | 122/900 [07:57<1:35:48,  7.39s/it]
 14%|█▎        | 123/900 [07:57<1:08:12,  5.27s/it]
 14%|█▍        | 124/900 [07:57<48:53,  3.78s/it]  
 14%|█▍        | 125/900 [07:58<35:21,  2.74s/it]
 14%|█▍        | 126/900 [07:58<25:56,  2.01s/it]
 14%|█▍        | 127/900 [07:58<19:21,  1.50s/it]
 14%|█▍        | 128/900 [07:59<14:44,  1.15s/it]
 14%|█▍        | 129/900 [08:12<1:01:10,  4.76s/it]
 14%|█▍        | 130/900 [08:12<43:57,  3.43s/it]  
 15%|█▍        | 131/900 [08:12<31:54,  2.49s/it]
 15%|█▍        | 132/900 [08:13<23:29,  1.84s/it]
 15%|█▍        | 133/900 [08:13<17:36,  1.38s/it]
 15%|█▍        | 134/900 [08:13<13:29,  1.06s/it]
 15%|█▌        | 135/900 [08:14<10:31,  1.21it/s]
 15%|█▌        | 136/900 [08:14<08:27,  1.51it/s]
 15%|█▌        | 137/900 [08:42<1:54:26,  9.00s/it]
 15%|█▌        | 138/900 [08:43<1:21:07,  6.39s/it]
 15%|█▌        | 139/900 [08:43<57:48,  4.56s/it]  
 16%|█▌        | 140/900 [08:43<41:30,  3.28s/it]
 16%|█▌        | 141/900 [08:43<30:08,  2.38s/it]
 16%|█▌        | 142/900 [08:44<22:16,  1.76s/it]
 16%|█▌        | 143/900 [08:44<16:47,  1.33s/it]
 16%|█▌        | 144/900 [08:44<12:56,  1.03s/it]
 16%|█▌        | 145/900 [09:46<4:00:30, 19.11s/it]
 16%|█▌        | 146/900 [09:46<2:49:20, 13.47s/it]
 16%|█▋        | 147/900 [09:46<1:59:33,  9.53s/it]
 16%|█▋        | 148/900 [09:47<1:24:44,  6.76s/it]
 17%|█▋        | 149/900 [09:47<1:00:23,  4.83s/it]
 17%|█▋        | 150/900 [09:47<43:25,  3.47s/it]  
 17%|█▋        | 151/900 [09:48<31:33,  2.53s/it]
 17%|█▋        | 152/900 [09:48<23:15,  1.87s/it]
 17%|█▋        | 153/900 [10:54<4:23:19, 21.15s/it]
 17%|█▋        | 154/900 [10:54<3:05:14, 14.90s/it]
 17%|█▋        | 155/900 [10:55<2:10:39, 10.52s/it]
 17%|█▋        | 156/900 [10:55<1:32:29,  7.46s/it]
 17%|█▋        | 157/900 [10:55<1:05:49,  5.32s/it]
 18%|█▊        | 158/900 [10:56<47:11,  3.82s/it]  
 18%|█▊        | 159/900 [10:56<34:09,  2.77s/it]
 18%|█▊        | 160/900 [10:56<25:03,  2.03s/it]
 18%|█▊        | 161/900 [11:26<2:08:49, 10.46s/it]
 18%|█▊        | 162/900 [11:27<1:31:08,  7.41s/it]
 18%|█▊        | 163/900 [11:27<1:04:48,  5.28s/it]
 18%|█▊        | 164/900 [11:27<46:20,  3.78s/it]  
 18%|█▊        | 165/900 [11:28<33:27,  2.73s/it]
 18%|█▊        | 166/900 [11:28<24:27,  2.00s/it]
 19%|█▊        | 167/900 [11:28<18:08,  1.48s/it]
 19%|█▊        | 168/900 [11:28<13:44,  1.13s/it]
 19%|█▉        | 169/900 [12:18<3:11:24, 15.71s/it]
 19%|█▉        | 170/900 [12:18<2:14:52, 11.09s/it]
 19%|█▉        | 171/900 [12:19<1:35:20,  7.85s/it]
 19%|█▉        | 172/900 [12:19<1:07:42,  5.58s/it]
 19%|█▉        | 173/900 [12:19<48:23,  3.99s/it]  
 19%|█▉        | 174/900 [12:20<34:52,  2.88s/it]
 19%|█▉        | 175/900 [12:20<25:25,  2.10s/it]
 20%|█▉        | 176/900 [12:20<18:48,  1.56s/it]
 20%|█▉        | 177/900 [12:41<1:29:47,  7.45s/it]
 20%|█▉        | 178/900 [12:42<1:03:48,  5.30s/it]
 20%|█▉        | 179/900 [12:42<45:39,  3.80s/it]  
 20%|██        | 180/900 [12:42<32:57,  2.75s/it]
 20%|██        | 181/900 [12:43<24:04,  2.01s/it]
 20%|██        | 182/900 [12:43<17:51,  1.49s/it]
 20%|██        | 183/900 [12:43<13:32,  1.13s/it]
 20%|██        | 184/900 [12:43<10:30,  1.14it/s]
 21%|██        | 185/900 [13:19<2:13:49, 11.23s/it]
 21%|██        | 186/900 [13:19<1:34:35,  7.95s/it]
 21%|██        | 187/900 [13:19<1:07:09,  5.65s/it]
 21%|██        | 188/900 [13:20<47:58,  4.04s/it]  
 21%|██        | 189/900 [13:20<34:34,  2.92s/it]
 21%|██        | 190/900 [13:20<25:11,  2.13s/it]
 21%|██        | 191/900 [13:21<18:38,  1.58s/it]
 21%|██▏       | 192/900 [13:21<14:03,  1.19s/it]
 21%|██▏       | 193/900 [13:50<1:51:37,  9.47s/it]
 22%|██▏       | 194/900 [13:50<1:19:01,  6.72s/it]
 22%|██▏       | 195/900 [13:50<56:18,  4.79s/it]  
 22%|██▏       | 196/900 [13:51<40:24,  3.44s/it]
 22%|██▏       | 197/900 [13:51<29:16,  2.50s/it]
 22%|██▏       | 198/900 [13:51<21:28,  1.84s/it]
 22%|██▏       | 199/900 [13:51<16:01,  1.37s/it]
 22%|██▏       | 200/900 [13:52<12:12,  1.05s/it]
 22%|██▏       | 201/900 [14:23<1:56:17,  9.98s/it]
 22%|██▏       | 202/900 [14:23<1:22:17,  7.07s/it]
 23%|██▎       | 203/900 [14:23<58:33,  5.04s/it]  
 23%|██▎       | 204/900 [14:23<41:56,  3.62s/it]
 23%|██▎       | 205/900 [14:24<30:20,  2.62s/it]
 23%|██▎       | 206/900 [14:24<22:14,  1.92s/it]
 23%|██▎       | 207/900 [14:24<16:32,  1.43s/it]
 23%|██▎       | 208/900 [14:25<12:35,  1.09s/it]
 23%|██▎       | 209/900 [15:01<2:13:04, 11.56s/it]
 23%|██▎       | 210/900 [15:01<1:34:06,  8.18s/it]
 23%|██▎       | 211/900 [15:01<1:06:51,  5.82s/it]
 24%|██▎       | 212/900 [15:02<47:47,  4.17s/it]  
 24%|██▎       | 213/900 [15:02<34:28,  3.01s/it]
 24%|██▍       | 214/900 [15:02<25:08,  2.20s/it]
 24%|██▍       | 215/900 [15:02<18:37,  1.63s/it]
 24%|██▍       | 216/900 [15:03<14:04,  1.23s/it]
 24%|██▍       | 217/900 [15:51<2:53:14, 15.22s/it]
 24%|██▍       | 218/900 [15:51<2:02:08, 10.75s/it]
 24%|██▍       | 219/900 [15:51<1:26:25,  7.61s/it]
 24%|██▍       | 220/900 [15:52<1:01:27,  5.42s/it]
 25%|██▍       | 221/900 [15:52<43:59,  3.89s/it]  
 25%|██▍       | 222/900 [15:52<31:48,  2.82s/it]
 25%|██▍       | 223/900 [15:52<23:17,  2.06s/it]
 25%|██▍       | 224/900 [15:53<17:20,  1.54s/it]
 25%|██▌       | 225/900 [16:15<1:27:25,  7.77s/it]
 25%|██▌       | 226/900 [16:15<1:02:09,  5.53s/it]
 25%|██▌       | 227/900 [16:16<44:29,  3.97s/it]  
 25%|██▌       | 228/900 [16:16<32:09,  2.87s/it]
 25%|██▌       | 229/900 [16:16<23:30,  2.10s/it]
 26%|██▌       | 230/900 [16:17<17:27,  1.56s/it]
 26%|██▌       | 231/900 [16:17<13:15,  1.19s/it]
 26%|██▌       | 232/900 [16:17<10:19,  1.08it/s]
 26%|██▌       | 233/900 [16:40<1:22:47,  7.45s/it]
 26%|██▌       | 234/900 [16:40<58:54,  5.31s/it]  
 26%|██▌       | 235/900 [16:41<42:13,  3.81s/it]
 26%|██▌       | 236/900 [16:41<30:33,  2.76s/it]
 26%|██▋       | 237/900 [16:41<22:23,  2.03s/it]
 26%|██▋       | 238/900 [16:41<16:41,  1.51s/it]
 27%|██▋       | 239/900 [16:42<12:42,  1.15s/it]
 27%|██▋       | 240/900 [16:42<09:55,  1.11it/s]
 27%|██▋       | 241/900 [18:08<4:49:31, 26.36s/it]
 27%|██▋       | 242/900 [18:08<3:23:24, 18.55s/it]
 27%|██▋       | 243/900 [18:09<2:23:11, 13.08s/it]
 27%|██▋       | 244/900 [18:09<1:41:07,  9.25s/it]
 27%|██▋       | 245/900 [18:09<1:11:44,  6.57s/it]
 27%|██▋       | 246/900 [18:09<51:10,  4.70s/it]  
 27%|██▋       | 247/900 [18:10<36:48,  3.38s/it]
 28%|██▊       | 248/900 [18:10<26:43,  2.46s/it]
 28%|██▊       | 249/900 [18:59<2:58:29, 16.45s/it]
 28%|██▊       | 250/900 [19:00<2:05:48, 11.61s/it]
 28%|██▊       | 251/900 [19:00<1:28:56,  8.22s/it]
 28%|██▊       | 252/900 [19:00<1:03:11,  5.85s/it]
 28%|██▊       | 253/900 [19:00<45:10,  4.19s/it]  
 28%|██▊       | 254/900 [19:01<32:35,  3.03s/it]
 28%|██▊       | 255/900 [19:01<23:47,  2.21s/it]
 28%|██▊       | 256/900 [19:01<17:37,  1.64s/it]
 29%|██▊       | 257/900 [21:29<8:06:57, 45.44s/it]
 29%|██▊       | 258/900 [21:29<5:41:23, 31.90s/it]
 29%|██▉       | 259/900 [21:30<3:59:37, 22.43s/it]
 29%|██▉       | 260/900 [21:30<2:48:28, 15.80s/it]
 29%|██▉       | 261/900 [21:30<1:58:46, 11.15s/it]
 29%|██▉       | 262/900 [21:31<1:24:00,  7.90s/it]
 29%|██▉       | 263/900 [21:31<59:43,  5.63s/it]  
 29%|██▉       | 264/900 [21:31<42:45,  4.03s/it]
 29%|██▉       | 265/900 [21:57<1:51:12, 10.51s/it]
 30%|██▉       | 266/900 [21:57<1:18:44,  7.45s/it]
 30%|██▉       | 267/900 [21:58<56:02,  5.31s/it]  
 30%|██▉       | 268/900 [21:58<40:07,  3.81s/it]
 30%|██▉       | 269/900 [21:58<29:03,  2.76s/it]
 30%|███       | 270/900 [21:58<21:17,  2.03s/it]
 30%|███       | 271/900 [21:59<15:52,  1.52s/it]
 30%|███       | 272/900 [21:59<12:05,  1.15s/it]
 30%|███       | 272/900 [22:56<52:56,  5.06s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json.
+ClampInRightBinTask_1 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: True, episode_step: 273, duration: 18.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.6572884143152535, 'joint_sparc_mean': -8.500913572820318, 'ee_isj': 1165.6877689579237, 'joint_isj': 48465.40235794289, 'ee_path_length': 2.1798882413254557, 'joint_rmse_mean': 0.9185351654419013, 'ee_speed_max': 0.3551062047481537, 'ee_speed_mean': 0.11780697852373123}, events: {'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 1300.751, 'policy_inference_avg_ms': 4764.7, 'env_step_s': 72.617, 'env_step_avg_ms': 266.0, 'video_write_s': 2.465, 'video_write_avg_ms': 9.0, 'wall_total_s': 1375.833, 'it_per_sec': 0.2}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 489c750e09224049969e7e00deeff468-1
+[RoboLab] Running ClampInRightBinTask_2: 'Put the spring clamp in the right bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:57<14:25:24, 57.76s/it]
  0%|          | 2/900 [00:58<5:58:37, 23.96s/it] 
  0%|          | 3/900 [00:58<3:16:36, 13.15s/it]
  0%|          | 4/900 [00:58<2:00:33,  8.07s/it]
  1%|          | 5/900 [00:58<1:18:35,  5.27s/it]
  1%|          | 6/900 [00:59<53:17,  3.58s/it]  
  1%|          | 7/900 [00:59<37:13,  2.50s/it]
  1%|          | 8/900 [00:59<26:44,  1.80s/it]
  1%|          | 9/900 [01:21<2:01:09,  8.16s/it]
  1%|          | 10/900 [01:22<1:24:59,  5.73s/it]
  1%|          | 11/900 [01:22<1:00:13,  4.06s/it]
  1%|▏         | 12/900 [01:22<43:08,  2.91s/it]  
  1%|▏         | 13/900 [01:23<31:20,  2.12s/it]
  2%|▏         | 14/900 [01:23<23:06,  1.57s/it]
  2%|▏         | 15/900 [01:23<17:23,  1.18s/it]
  2%|▏         | 16/900 [01:23<13:24,  1.10it/s]
  2%|▏         | 17/900 [01:38<1:12:23,  4.92s/it]
  2%|▏         | 18/900 [01:38<51:52,  3.53s/it]  
  2%|▏         | 19/900 [01:38<37:31,  2.56s/it]
  2%|▏         | 20/900 [01:39<27:29,  1.87s/it]
  2%|▏         | 21/900 [01:39<20:28,  1.40s/it]
  2%|▏         | 22/900 [01:39<15:34,  1.06s/it]
  3%|▎         | 23/900 [01:39<12:08,  1.20it/s]
  3%|▎         | 24/900 [01:40<09:43,  1.50it/s]
  3%|▎         | 25/900 [01:52<59:53,  4.11s/it]
  3%|▎         | 26/900 [01:52<43:08,  2.96s/it]
  3%|▎         | 27/900 [01:52<31:24,  2.16s/it]
  3%|▎         | 28/900 [01:53<23:13,  1.60s/it]
  3%|▎         | 29/900 [01:53<17:28,  1.20s/it]
  3%|▎         | 30/900 [01:53<13:27,  1.08it/s]
  3%|▎         | 31/900 [01:54<10:39,  1.36it/s]
  4%|▎         | 32/900 [01:54<08:40,  1.67it/s]
  4%|▎         | 33/900 [02:15<1:38:31,  6.82s/it]
  4%|▍         | 34/900 [02:15<1:10:12,  4.86s/it]
  4%|▍         | 35/900 [02:16<50:19,  3.49s/it]  
  4%|▍         | 36/900 [02:16<36:24,  2.53s/it]
  4%|▍         | 37/900 [02:16<26:41,  1.86s/it]
  4%|▍         | 38/900 [02:17<19:54,  1.39s/it]
  4%|▍         | 39/900 [02:17<15:10,  1.06s/it]
  4%|▍         | 40/900 [02:17<11:51,  1.21it/s]
  5%|▍         | 41/900 [02:40<1:47:19,  7.50s/it]
  5%|▍         | 42/900 [02:41<1:16:16,  5.33s/it]
  5%|▍         | 43/900 [02:41<54:34,  3.82s/it]  
  5%|▍         | 44/900 [02:41<39:23,  2.76s/it]
  5%|▌         | 45/900 [02:41<28:46,  2.02s/it]
  5%|▌         | 46/900 [02:42<21:21,  1.50s/it]
  5%|▌         | 47/900 [02:42<16:09,  1.14s/it]
  5%|▌         | 48/900 [02:42<12:31,  1.13it/s]
  5%|▌         | 49/900 [03:03<1:38:35,  6.95s/it]
  6%|▌         | 50/900 [03:04<1:10:09,  4.95s/it]
  6%|▌         | 51/900 [03:04<50:18,  3.56s/it]  
  6%|▌         | 52/900 [03:04<36:21,  2.57s/it]
  6%|▌         | 53/900 [03:05<26:40,  1.89s/it]
  6%|▌         | 54/900 [03:05<19:51,  1.41s/it]
  6%|▌         | 55/900 [03:05<15:06,  1.07s/it]
  6%|▌         | 56/900 [03:05<11:48,  1.19it/s]
  6%|▋         | 57/900 [03:25<1:32:17,  6.57s/it]
  6%|▋         | 58/900 [03:26<1:05:44,  4.68s/it]
  7%|▋         | 59/900 [03:26<47:10,  3.37s/it]  
  7%|▋         | 60/900 [03:26<34:12,  2.44s/it]
  7%|▋         | 61/900 [03:27<25:07,  1.80s/it]
  7%|▋         | 62/900 [03:27<18:47,  1.34s/it]
  7%|▋         | 63/900 [03:27<14:22,  1.03s/it]
  7%|▋         | 64/900 [03:27<11:23,  1.22it/s]
  7%|▋         | 65/900 [03:59<2:18:04,  9.92s/it]
  7%|▋         | 66/900 [03:59<1:37:49,  7.04s/it]
  7%|▋         | 67/900 [03:59<1:09:42,  5.02s/it]
  8%|▊         | 68/900 [04:00<50:02,  3.61s/it]  
  8%|▊         | 69/900 [04:00<36:19,  2.62s/it]
  8%|▊         | 70/900 [04:00<26:42,  1.93s/it]
  8%|▊         | 71/900 [04:00<19:57,  1.44s/it]
  8%|▊         | 72/900 [04:01<15:16,  1.11s/it]
  8%|▊         | 73/900 [04:18<1:21:17,  5.90s/it]
  8%|▊         | 74/900 [04:18<58:09,  4.22s/it]  
  8%|▊         | 75/900 [04:19<41:58,  3.05s/it]
  8%|▊         | 76/900 [04:19<30:38,  2.23s/it]
  9%|▊         | 77/900 [04:19<22:42,  1.66s/it]
  9%|▊         | 78/900 [04:19<17:08,  1.25s/it]
  9%|▉         | 79/900 [04:20<13:15,  1.03it/s]
  9%|▉         | 80/900 [04:20<10:31,  1.30it/s]
  9%|▉         | 81/900 [04:43<1:41:39,  7.45s/it]
  9%|▉         | 82/900 [04:43<1:12:22,  5.31s/it]
  9%|▉         | 83/900 [04:44<51:51,  3.81s/it]  
  9%|▉         | 84/900 [04:44<37:31,  2.76s/it]
  9%|▉         | 85/900 [04:44<27:30,  2.03s/it]
 10%|▉         | 86/900 [04:45<20:32,  1.51s/it]
 10%|▉         | 87/900 [04:45<15:39,  1.16s/it]
 10%|▉         | 88/900 [04:45<12:13,  1.11it/s]
 10%|▉         | 89/900 [06:36<7:38:50, 33.95s/it]
 10%|█         | 90/900 [06:37<5:22:02, 23.86s/it]
 10%|█         | 91/900 [06:37<3:46:23, 16.79s/it]
 10%|█         | 92/900 [06:37<2:39:29, 11.84s/it]
 10%|█         | 93/900 [06:38<1:52:46,  8.38s/it]
 10%|█         | 94/900 [06:38<1:20:07,  5.96s/it]
 11%|█         | 95/900 [06:38<57:15,  4.27s/it]  
 11%|█         | 96/900 [06:38<41:12,  3.08s/it]
 11%|█         | 97/900 [07:04<2:11:12,  9.80s/it]
 11%|█         | 98/900 [07:04<1:32:55,  6.95s/it]
 11%|█         | 99/900 [07:05<1:06:08,  4.95s/it]
 11%|█         | 100/900 [07:05<47:22,  3.55s/it] 
 11%|█         | 101/900 [07:05<34:18,  2.58s/it]
 11%|█▏        | 102/900 [07:05<25:09,  1.89s/it]
 11%|█▏        | 103/900 [07:06<18:44,  1.41s/it]
 12%|█▏        | 104/900 [07:06<14:14,  1.07s/it]
 12%|█▏        | 105/900 [07:30<1:43:47,  7.83s/it]
 12%|█▏        | 106/900 [07:30<1:13:43,  5.57s/it]
 12%|█▏        | 107/900 [07:30<52:41,  3.99s/it]  
 12%|█▏        | 108/900 [07:31<37:59,  2.88s/it]
 12%|█▏        | 109/900 [07:31<27:42,  2.10s/it]
 12%|█▏        | 110/900 [07:31<20:31,  1.56s/it]
 12%|█▏        | 111/900 [07:31<15:29,  1.18s/it]
 12%|█▏        | 112/900 [07:32<11:57,  1.10it/s]
 13%|█▎        | 113/900 [07:54<1:37:46,  7.45s/it]
 13%|█▎        | 114/900 [07:55<1:09:34,  5.31s/it]
 13%|█▎        | 115/900 [07:55<49:51,  3.81s/it]  
 13%|█▎        | 116/900 [07:55<36:06,  2.76s/it]
 13%|█▎        | 117/900 [07:56<26:29,  2.03s/it]
 13%|█▎        | 118/900 [07:56<19:46,  1.52s/it]
 13%|█▎        | 119/900 [07:56<15:04,  1.16s/it]
 13%|█▎        | 120/900 [07:57<11:47,  1.10it/s]
 13%|█▎        | 121/900 [08:48<3:27:27, 15.98s/it]
 14%|█▎        | 122/900 [08:48<2:26:16, 11.28s/it]
 14%|█▎        | 123/900 [08:48<1:43:24,  7.99s/it]
 14%|█▍        | 124/900 [08:49<1:13:24,  5.68s/it]
 14%|█▍        | 125/900 [08:49<52:26,  4.06s/it]  
 14%|█▍        | 126/900 [08:49<37:49,  2.93s/it]
 14%|█▍        | 127/900 [08:50<27:36,  2.14s/it]
 14%|█▍        | 128/900 [08:50<20:28,  1.59s/it]
 14%|█▍        | 129/900 [09:33<3:00:50, 14.07s/it]
 14%|█▍        | 130/900 [09:33<2:07:35,  9.94s/it]
 15%|█▍        | 131/900 [09:34<1:30:24,  7.05s/it]
 15%|█▍        | 132/900 [09:34<1:04:24,  5.03s/it]
 15%|█▍        | 133/900 [09:34<46:11,  3.61s/it]  
 15%|█▍        | 134/900 [09:35<33:26,  2.62s/it]
 15%|█▌        | 135/900 [09:35<24:31,  1.92s/it]
 15%|█▌        | 136/900 [09:35<18:18,  1.44s/it]
 15%|█▌        | 137/900 [09:56<1:30:33,  7.12s/it]
 15%|█▌        | 138/900 [09:56<1:04:26,  5.07s/it]
 15%|█▌        | 139/900 [09:56<46:08,  3.64s/it]  
 16%|█▌        | 140/900 [09:56<33:22,  2.63s/it]
 16%|█▌        | 141/900 [09:57<24:26,  1.93s/it]
 16%|█▌        | 142/900 [09:57<18:10,  1.44s/it]
 16%|█▌        | 143/900 [09:57<13:48,  1.09s/it]
 16%|█▌        | 144/900 [09:58<10:44,  1.17it/s]
 16%|█▌        | 145/900 [10:13<1:04:47,  5.15s/it]
 16%|█▌        | 146/900 [10:13<46:23,  3.69s/it]  
 16%|█▋        | 147/900 [10:13<33:31,  2.67s/it]
 16%|█▋        | 148/900 [10:14<24:31,  1.96s/it]
 17%|█▋        | 149/900 [10:14<18:14,  1.46s/it]
 17%|█▋        | 150/900 [10:14<13:50,  1.11s/it]
 17%|█▋        | 151/900 [10:15<10:47,  1.16it/s]
 17%|█▋        | 152/900 [10:15<08:42,  1.43it/s]
 17%|█▋        | 153/900 [11:04<3:11:00, 15.34s/it]
 17%|█▋        | 154/900 [11:05<2:14:37, 10.83s/it]
 17%|█▋        | 155/900 [11:05<1:35:11,  7.67s/it]
 17%|█▋        | 156/900 [11:05<1:07:41,  5.46s/it]
 17%|█▋        | 157/900 [11:06<48:26,  3.91s/it]  
 18%|█▊        | 158/900 [11:06<34:57,  2.83s/it]
 18%|█▊        | 159/900 [11:06<25:30,  2.07s/it]
 18%|█▊        | 160/900 [11:06<18:53,  1.53s/it]
 18%|█▊        | 161/900 [12:59<7:09:04, 34.84s/it]
 18%|█▊        | 162/900 [12:59<5:01:07, 24.48s/it]
 18%|█▊        | 163/900 [13:00<3:31:41, 17.23s/it]
 18%|█▊        | 164/900 [13:00<2:29:09, 12.16s/it]
 18%|█▊        | 165/900 [13:00<1:45:24,  8.61s/it]
 18%|█▊        | 166/900 [13:01<1:14:50,  6.12s/it]
 19%|█▊        | 167/900 [13:01<53:27,  4.38s/it]  
 19%|█▊        | 168/900 [13:01<38:31,  3.16s/it]
 19%|█▉        | 169/900 [13:18<1:28:42,  7.28s/it]
 19%|█▉        | 170/900 [13:18<1:03:11,  5.19s/it]
 19%|█▉        | 171/900 [13:19<45:17,  3.73s/it]  
 19%|█▉        | 172/900 [13:19<32:47,  2.70s/it]
 19%|█▉        | 173/900 [13:19<24:02,  1.98s/it]
 19%|█▉        | 174/900 [13:20<17:57,  1.48s/it]
 19%|█▉        | 175/900 [13:20<13:40,  1.13s/it]
 20%|█▉        | 176/900 [13:20<10:39,  1.13it/s]
 20%|█▉        | 177/900 [13:43<1:30:01,  7.47s/it]
 20%|█▉        | 178/900 [13:43<1:04:03,  5.32s/it]
 20%|█▉        | 179/900 [13:44<45:53,  3.82s/it]  
 20%|██        | 180/900 [13:44<33:11,  2.77s/it]
 20%|██        | 181/900 [13:44<24:19,  2.03s/it]
 20%|██        | 182/900 [13:45<18:07,  1.51s/it]
 20%|██        | 183/900 [13:45<13:48,  1.15s/it]
 20%|██        | 184/900 [13:45<10:47,  1.11it/s]
 21%|██        | 185/900 [14:06<1:20:06,  6.72s/it]
 21%|██        | 186/900 [14:06<57:08,  4.80s/it]  
 21%|██        | 187/900 [14:06<41:03,  3.46s/it]
 21%|██        | 188/900 [14:07<29:49,  2.51s/it]
 21%|██        | 189/900 [14:07<21:58,  1.85s/it]
 21%|██        | 190/900 [14:07<16:29,  1.39s/it]
 21%|██        | 191/900 [14:08<12:37,  1.07s/it]
 21%|██▏       | 192/900 [14:08<09:56,  1.19it/s]
 21%|██▏       | 193/900 [15:06<3:33:28, 18.12s/it]
 22%|██▏       | 194/900 [15:07<2:30:19, 12.78s/it]
 22%|██▏       | 195/900 [15:07<1:46:10,  9.04s/it]
 22%|██▏       | 196/900 [15:07<1:15:18,  6.42s/it]
 22%|██▏       | 197/900 [15:07<53:41,  4.58s/it]  
 22%|██▏       | 198/900 [15:08<38:37,  3.30s/it]
 22%|██▏       | 199/900 [15:08<28:06,  2.41s/it]
 22%|██▏       | 200/900 [15:08<20:45,  1.78s/it]
 22%|██▏       | 201/900 [15:41<2:07:55, 10.98s/it]
 22%|██▏       | 202/900 [15:41<1:30:31,  7.78s/it]
 23%|██▎       | 203/900 [15:42<1:04:22,  5.54s/it]
 23%|██▎       | 204/900 [15:42<46:04,  3.97s/it]  
 23%|██▎       | 205/900 [15:42<33:16,  2.87s/it]
 23%|██▎       | 206/900 [15:42<24:20,  2.10s/it]
 23%|██▎       | 207/900 [15:43<18:05,  1.57s/it]
 23%|██▎       | 208/900 [15:43<13:42,  1.19s/it]
 23%|██▎       | 209/900 [16:14<1:57:52, 10.23s/it]
 23%|██▎       | 210/900 [16:15<1:23:28,  7.26s/it]
 23%|██▎       | 211/900 [16:15<59:24,  5.17s/it]  
 24%|██▎       | 212/900 [16:15<42:35,  3.71s/it]
 24%|██▎       | 213/900 [16:16<30:50,  2.69s/it]
 24%|██▍       | 214/900 [16:16<22:36,  1.98s/it]
 24%|██▍       | 215/900 [16:16<16:52,  1.48s/it]
 24%|██▍       | 216/900 [16:17<12:51,  1.13s/it]
 24%|██▍       | 217/900 [16:51<2:06:04, 11.08s/it]
 24%|██▍       | 218/900 [16:51<1:29:11,  7.85s/it]
 24%|██▍       | 219/900 [16:51<1:03:23,  5.59s/it]
 24%|██▍       | 220/900 [16:52<45:21,  4.00s/it]  
 25%|██▍       | 221/900 [16:52<32:45,  2.89s/it]
 25%|██▍       | 222/900 [16:52<23:56,  2.12s/it]
 25%|██▍       | 223/900 [16:53<17:45,  1.57s/it]
 25%|██▍       | 224/900 [16:53<13:27,  1.19s/it]
 25%|██▌       | 225/900 [18:35<5:52:04, 31.30s/it]
 25%|██▌       | 226/900 [18:35<4:07:07, 22.00s/it]
 25%|██▌       | 227/900 [18:35<2:53:47, 15.49s/it]
 25%|██▌       | 228/900 [18:35<2:02:32, 10.94s/it]
 25%|██▌       | 229/900 [18:36<1:26:41,  7.75s/it]
 26%|██▌       | 230/900 [18:36<1:01:36,  5.52s/it]
 26%|██▌       | 231/900 [18:36<44:06,  3.96s/it]  
 26%|██▌       | 232/900 [18:37<31:51,  2.86s/it]
 26%|██▌       | 232/900 [21:52<1:02:58,  5.66s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json.
+ClampInRightBinTask_2 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: True, episode_step: 233, duration: 15.533333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.1062135310484065, 'joint_sparc_mean': -7.805307571994251, 'ee_isj': 1428.9543824117816, 'joint_isj': 43577.71166817102, 'ee_path_length': 2.059087513832056, 'joint_rmse_mean': 0.9168422279830077, 'ee_speed_max': 0.5731810927391052, 'ee_speed_mean': 0.13056425750255585}, events: {'GRIPPER_FULLY_CLOSED': 4, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 5}, instruction_type: default, timing: {'policy_inference_s': 1247.769, 'policy_inference_avg_ms': 5355.2, 'env_step_s': 62.35, 'env_step_avg_ms': 267.6, 'video_write_s': 2.132, 'video_write_avg_ms': 9.2, 'wall_total_s': 1312.252, 'it_per_sec': 0.18}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 2ca75f909f90462982a563d09637d868-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T13:17:58Z [21,405,698ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.219038 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T13:18:02Z [21,409,658ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-02T13:18:02Z [21,409,758ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T13:18:02Z [21,409,758ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T13:18:02Z [21,409,767ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T13:18:02Z [21,409,768ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T13:18:02Z [21,409,776ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T13:18:02Z [21,409,784ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T13:18:03Z [21,410,372ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((627))' not available in the MDL representation.
+2026-11-02T13:18:03Z [21,410,373ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((627))' not available in the MDL representation.
+2026-11-02T13:18:03Z [21,410,625ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((652))' not available in the MDL representation.
+2026-11-02T13:18:03Z [21,410,626ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((652))' not available in the MDL representation.
+2026-11-02T13:18:03Z [21,410,704ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((683))' not available in the MDL representation.
+2026-11-02T13:18:03Z [21,410,704ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((683))' not available in the MDL representation.
+2026-11-02T13:18:03Z [21,410,924ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((688))' not available in the MDL representation.
+2026-11-02T13:18:03Z [21,410,924ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((688))' not available in the MDL representation.
+2026-11-02T13:18:04Z [21,412,122ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((627))' not available in the MDL representation.
+2026-11-02T13:18:04Z [21,412,123ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((627))' not available in the MDL representation.
+2026-11-02T13:18:04Z [21,412,124ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((652))' not available in the MDL representation.
+2026-11-02T13:18:04Z [21,412,125ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((652))' not available in the MDL representation.
+2026-11-02T13:18:04Z [21,412,127ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((683))' not available in the MDL representation.
+2026-11-02T13:18:04Z [21,412,127ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((683))' not available in the MDL representation.
+2026-11-02T13:18:04Z [21,412,128ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((688))' not available in the MDL representation.
+2026-11-02T13:18:04Z [21,412,128ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((688))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.318484 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:43<10:58:24, 43.94s/it]
  0%|          | 2/900 [00:44<4:33:09, 18.25s/it] 
  0%|          | 3/900 [00:44<2:29:57, 10.03s/it]
  0%|          | 4/900 [00:44<1:32:05,  6.17s/it]
  1%|          | 5/900 [00:44<1:00:10,  4.03s/it]
  1%|          | 6/900 [00:45<40:55,  2.75s/it]  
  1%|          | 7/900 [00:45<28:41,  1.93s/it]
  1%|          | 8/900 [00:45<20:42,  1.39s/it]
  1%|          | 9/900 [00:56<1:05:35,  4.42s/it]
  1%|          | 10/900 [00:57<46:25,  3.13s/it] 
  1%|          | 11/900 [00:57<33:17,  2.25s/it]
  1%|▏         | 12/900 [00:57<24:15,  1.64s/it]
  1%|▏         | 13/900 [00:57<18:00,  1.22s/it]
  2%|▏         | 14/900 [00:57<13:38,  1.08it/s]
  2%|▏         | 15/900 [00:58<10:38,  1.39it/s]
  2%|▏         | 16/900 [00:58<08:30,  1.73it/s]
  2%|▏         | 17/900 [01:11<1:04:33,  4.39s/it]
  2%|▏         | 18/900 [01:11<46:12,  3.14s/it]  
  2%|▏         | 19/900 [01:12<33:23,  2.27s/it]
  2%|▏         | 20/900 [01:12<24:25,  1.67s/it]
  2%|▏         | 21/900 [01:12<18:10,  1.24s/it]
  2%|▏         | 22/900 [01:12<13:47,  1.06it/s]
  3%|▎         | 23/900 [01:13<10:43,  1.36it/s]
  3%|▎         | 24/900 [01:13<08:36,  1.70it/s]
  3%|▎         | 25/900 [01:27<1:09:29,  4.77s/it]
  3%|▎         | 26/900 [01:28<49:40,  3.41s/it]  
  3%|▎         | 27/900 [01:28<35:48,  2.46s/it]
  3%|▎         | 28/900 [01:28<26:05,  1.80s/it]
  3%|▎         | 29/900 [01:28<19:18,  1.33s/it]
  3%|▎         | 30/900 [01:29<14:34,  1.00s/it]
  3%|▎         | 31/900 [01:29<11:14,  1.29it/s]
  4%|▎         | 32/900 [01:29<08:55,  1.62it/s]
  4%|▎         | 33/900 [01:49<1:32:46,  6.42s/it]
  4%|▍         | 34/900 [01:49<1:05:56,  4.57s/it]
  4%|▍         | 35/900 [01:50<47:10,  3.27s/it]  
  4%|▍         | 36/900 [01:50<34:03,  2.37s/it]
  4%|▍         | 37/900 [01:50<24:53,  1.73s/it]
  4%|▍         | 38/900 [01:50<18:28,  1.29s/it]
  4%|▍         | 39/900 [01:51<13:59,  1.03it/s]
  4%|▍         | 40/900 [01:51<10:50,  1.32it/s]
  5%|▍         | 41/900 [02:13<1:44:12,  7.28s/it]
  5%|▍         | 42/900 [02:14<1:13:56,  5.17s/it]
  5%|▍         | 43/900 [02:14<52:45,  3.69s/it]  
  5%|▍         | 44/900 [02:14<37:56,  2.66s/it]
  5%|▌         | 45/900 [02:14<27:33,  1.93s/it]
  5%|▌         | 46/900 [02:15<20:19,  1.43s/it]
  5%|▌         | 47/900 [02:15<15:16,  1.07s/it]
  5%|▌         | 48/900 [02:15<11:44,  1.21it/s]
  5%|▌         | 49/900 [02:49<2:31:50, 10.71s/it]
  6%|▌         | 50/900 [02:49<1:47:14,  7.57s/it]
  6%|▌         | 51/900 [02:49<1:16:01,  5.37s/it]
  6%|▌         | 52/900 [02:50<54:18,  3.84s/it]  
  6%|▌         | 53/900 [02:50<39:07,  2.77s/it]
  6%|▌         | 54/900 [02:50<28:32,  2.02s/it]
  6%|▌         | 55/900 [02:50<21:07,  1.50s/it]
  6%|▌         | 56/900 [02:51<15:55,  1.13s/it]
  6%|▋         | 57/900 [03:22<2:23:35, 10.22s/it]
  6%|▋         | 58/900 [03:22<1:41:34,  7.24s/it]
  7%|▋         | 59/900 [03:23<1:12:11,  5.15s/it]
  7%|▋         | 60/900 [03:23<51:39,  3.69s/it]  
  7%|▋         | 61/900 [03:23<37:17,  2.67s/it]
  7%|▋         | 62/900 [03:24<27:15,  1.95s/it]
  7%|▋         | 63/900 [03:24<20:14,  1.45s/it]
  7%|▋         | 64/900 [03:24<15:19,  1.10s/it]
  7%|▋         | 65/900 [03:36<59:40,  4.29s/it]
  7%|▋         | 66/900 [03:36<42:54,  3.09s/it]
  7%|▋         | 67/900 [03:36<31:09,  2.24s/it]
  8%|▊         | 68/900 [03:37<22:56,  1.66s/it]
  8%|▊         | 69/900 [03:37<17:11,  1.24s/it]
  8%|▊         | 70/900 [03:37<13:10,  1.05it/s]
  8%|▊         | 71/900 [03:38<10:21,  1.33it/s]
  8%|▊         | 72/900 [03:38<08:22,  1.65it/s]
  8%|▊         | 73/900 [03:55<1:17:49,  5.65s/it]
  8%|▊         | 74/900 [03:56<55:33,  4.04s/it]  
  8%|▊         | 75/900 [03:56<39:58,  2.91s/it]
  8%|▊         | 76/900 [03:56<29:04,  2.12s/it]
  9%|▊         | 77/900 [03:56<21:26,  1.56s/it]
  9%|▊         | 78/900 [03:57<16:06,  1.18s/it]
  9%|▉         | 79/900 [03:57<12:23,  1.10it/s]
  9%|▉         | 80/900 [03:57<09:47,  1.40it/s]
  9%|▉         | 81/900 [04:10<59:01,  4.32s/it]
  9%|▉         | 82/900 [04:10<42:24,  3.11s/it]
  9%|▉         | 83/900 [04:10<30:45,  2.26s/it]
  9%|▉         | 84/900 [04:11<22:38,  1.67s/it]
  9%|▉         | 85/900 [04:11<16:57,  1.25s/it]
 10%|▉         | 86/900 [04:11<12:58,  1.05it/s]
 10%|▉         | 87/900 [04:12<10:10,  1.33it/s]
 10%|▉         | 88/900 [04:12<08:14,  1.64it/s]
 10%|▉         | 89/900 [04:39<1:55:27,  8.54s/it]
 10%|█         | 90/900 [04:39<1:21:51,  6.06s/it]
 10%|█         | 91/900 [04:39<58:19,  4.33s/it]  
 10%|█         | 92/900 [04:40<41:52,  3.11s/it]
 10%|█         | 93/900 [04:40<30:23,  2.26s/it]
 10%|█         | 93/900 [04:40<40:37,  3.02s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json.
+FoodPacking1BoxesTask_0 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_0, run: 0, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 94, duration: 6.266666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.5269416417265598, 'joint_sparc_mean': -4.7897640704214774, 'ee_isj': 988.9922936246151, 'joint_isj': 37092.70507220641, 'ee_path_length': 1.4690374829158124, 'joint_rmse_mean': 0.9185787376970717, 'ee_speed_max': 1.0275678634643555, 'ee_speed_mean': 0.22046655416488647}, events: {'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 257.766, 'policy_inference_avg_ms': 2742.2, 'env_step_s': 21.554, 'env_step_avg_ms': 229.3, 'video_write_s': 1.46, 'video_write_avg_ms': 15.5, 'wall_total_s': 280.78, 'it_per_sec': 0.33}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 8645b22c542f433a812c4999d03ad361-0
+[RoboLab] Running FoodPacking1BoxesTask_1: 'Pack boxed foods into the bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:42<10:29:38, 42.02s/it]
  0%|          | 2/900 [00:42<4:21:14, 17.45s/it] 
  0%|          | 3/900 [00:42<2:23:30,  9.60s/it]
  0%|          | 4/900 [00:42<1:28:12,  5.91s/it]
  1%|          | 5/900 [00:43<57:40,  3.87s/it]  
  1%|          | 6/900 [00:43<39:17,  2.64s/it]
  1%|          | 7/900 [00:43<27:37,  1.86s/it]
  1%|          | 8/900 [00:43<19:58,  1.34s/it]
  1%|          | 9/900 [00:56<1:13:55,  4.98s/it]
  1%|          | 10/900 [00:56<52:11,  3.52s/it] 
  1%|          | 11/900 [00:57<37:18,  2.52s/it]
  1%|▏         | 12/900 [00:57<27:04,  1.83s/it]
  1%|▏         | 13/900 [00:57<19:57,  1.35s/it]
  2%|▏         | 14/900 [00:57<15:01,  1.02s/it]
  2%|▏         | 15/900 [00:58<11:36,  1.27it/s]
  2%|▏         | 16/900 [00:58<09:14,  1.60it/s]
  2%|▏         | 17/900 [01:15<1:21:18,  5.52s/it]
  2%|▏         | 18/900 [01:15<57:54,  3.94s/it]  
  2%|▏         | 19/900 [01:15<41:33,  2.83s/it]
  2%|▏         | 20/900 [01:16<30:08,  2.06s/it]
  2%|▏         | 21/900 [01:16<22:09,  1.51s/it]
  2%|▏         | 22/900 [01:16<16:34,  1.13s/it]
  3%|▎         | 23/900 [01:16<12:41,  1.15it/s]
  3%|▎         | 24/900 [01:17<09:57,  1.47it/s]
  3%|▎         | 25/900 [01:26<46:38,  3.20s/it]
  3%|▎         | 26/900 [01:26<33:41,  2.31s/it]
  3%|▎         | 27/900 [01:26<24:37,  1.69s/it]
  3%|▎         | 28/900 [01:26<18:17,  1.26s/it]
  3%|▎         | 29/900 [01:27<13:52,  1.05it/s]
  3%|▎         | 30/900 [01:27<10:46,  1.35it/s]
  3%|▎         | 31/900 [01:27<08:36,  1.68it/s]
  4%|▎         | 32/900 [01:27<07:06,  2.03it/s]
  4%|▎         | 33/900 [01:48<1:35:26,  6.60s/it]
  4%|▍         | 34/900 [01:49<1:07:48,  4.70s/it]
  4%|▍         | 35/900 [01:49<48:29,  3.36s/it]  
  4%|▍         | 36/900 [01:49<34:58,  2.43s/it]
  4%|▍         | 37/900 [01:49<25:31,  1.77s/it]
  4%|▍         | 38/900 [01:50<18:55,  1.32s/it]
  4%|▍         | 39/900 [01:50<14:17,  1.00it/s]
  4%|▍         | 40/900 [01:50<11:03,  1.30it/s]
  5%|▍         | 41/900 [02:27<2:45:29, 11.56s/it]
  5%|▍         | 42/900 [02:27<1:56:45,  8.17s/it]
  5%|▍         | 43/900 [02:27<1:22:41,  5.79s/it]
  5%|▍         | 44/900 [02:28<58:52,  4.13s/it]  
  5%|▌         | 45/900 [02:28<42:13,  2.96s/it]
  5%|▌         | 46/900 [02:28<30:35,  2.15s/it]
  5%|▌         | 47/900 [02:28<22:26,  1.58s/it]
  5%|▌         | 48/900 [02:29<16:45,  1.18s/it]
  5%|▌         | 49/900 [03:15<3:30:52, 14.87s/it]
  6%|▌         | 50/900 [03:16<2:28:30, 10.48s/it]
  6%|▌         | 51/900 [03:16<1:44:53,  7.41s/it]
  6%|▌         | 52/900 [03:16<1:14:26,  5.27s/it]
  6%|▌         | 53/900 [03:16<53:12,  3.77s/it]  
  6%|▌         | 54/900 [03:17<38:20,  2.72s/it]
  6%|▌         | 55/900 [03:17<27:57,  1.99s/it]
  6%|▌         | 56/900 [03:17<20:41,  1.47s/it]
  6%|▋         | 57/900 [03:47<2:19:07,  9.90s/it]
  6%|▋         | 58/900 [03:47<1:38:22,  7.01s/it]
  7%|▋         | 59/900 [03:47<1:09:53,  4.99s/it]
  7%|▋         | 60/900 [03:48<49:59,  3.57s/it]  
  7%|▋         | 61/900 [03:48<36:04,  2.58s/it]
  7%|▋         | 62/900 [03:48<26:18,  1.88s/it]
  7%|▋         | 63/900 [03:48<19:29,  1.40s/it]
  7%|▋         | 64/900 [03:49<14:46,  1.06s/it]
  7%|▋         | 65/900 [04:00<55:52,  4.01s/it]
  7%|▋         | 66/900 [04:00<40:11,  2.89s/it]
  7%|▋         | 67/900 [04:00<29:13,  2.10s/it]
  8%|▊         | 68/900 [04:00<21:29,  1.55s/it]
  8%|▊         | 69/900 [04:01<16:08,  1.17s/it]
  8%|▊         | 70/900 [04:01<12:24,  1.12it/s]
  8%|▊         | 71/900 [04:01<09:46,  1.41it/s]
  8%|▊         | 72/900 [04:01<07:56,  1.74it/s]
  8%|▊         | 73/900 [05:17<5:16:57, 23.00s/it]
  8%|▊         | 74/900 [05:17<3:42:43, 16.18s/it]
  8%|▊         | 75/900 [05:17<2:36:50, 11.41s/it]
  8%|▊         | 76/900 [05:18<1:50:46,  8.07s/it]
  9%|▊         | 77/900 [05:18<1:18:33,  5.73s/it]
  9%|▊         | 78/900 [05:18<55:54,  4.08s/it]  
  9%|▉         | 79/900 [05:18<40:06,  2.93s/it]
  9%|▉         | 80/900 [05:19<29:03,  2.13s/it]
  9%|▉         | 81/900 [07:20<8:39:06, 38.03s/it]
  9%|▉         | 82/900 [07:21<6:03:57, 26.70s/it]
  9%|▉         | 83/900 [07:21<4:15:29, 18.76s/it]
  9%|▉         | 84/900 [07:21<2:59:37, 13.21s/it]
  9%|▉         | 85/900 [07:21<2:06:34,  9.32s/it]
 10%|▉         | 86/900 [07:22<1:29:32,  6.60s/it]
 10%|▉         | 87/900 [07:22<1:03:44,  4.70s/it]
 10%|▉         | 88/900 [07:22<45:39,  3.37s/it]  
 10%|▉         | 89/900 [07:59<3:03:15, 13.56s/it]
 10%|█         | 90/900 [08:00<2:09:14,  9.57s/it]
 10%|█         | 91/900 [08:00<1:31:25,  6.78s/it]
 10%|█         | 92/900 [08:00<1:05:00,  4.83s/it]
 10%|█         | 93/900 [08:01<46:32,  3.46s/it]  
 10%|█         | 94/900 [08:01<33:38,  2.50s/it]
 11%|█         | 95/900 [08:01<24:35,  1.83s/it]
 11%|█         | 96/900 [08:01<18:16,  1.36s/it]
 11%|█         | 97/900 [08:33<2:20:51, 10.52s/it]
 11%|█         | 98/900 [08:34<1:39:35,  7.45s/it]
 11%|█         | 99/900 [08:34<1:10:42,  5.30s/it]
 11%|█         | 100/900 [08:34<50:32,  3.79s/it] 
 11%|█         | 101/900 [08:34<36:26,  2.74s/it]
 11%|█▏        | 102/900 [08:35<26:34,  2.00s/it]
 11%|█▏        | 103/900 [08:35<19:41,  1.48s/it]
 12%|█▏        | 104/900 [08:35<14:51,  1.12s/it]
 12%|█▏        | 105/900 [08:56<1:32:33,  6.99s/it]
 12%|█▏        | 106/900 [08:56<1:05:48,  4.97s/it]
 12%|█▏        | 107/900 [08:56<47:05,  3.56s/it]  
 12%|█▏        | 108/900 [08:57<34:00,  2.58s/it]
 12%|█▏        | 109/900 [08:57<24:50,  1.88s/it]
 12%|█▏        | 110/900 [08:57<18:27,  1.40s/it]
 12%|█▏        | 111/900 [08:57<13:58,  1.06s/it]
 12%|█▏        | 112/900 [08:58<10:50,  1.21it/s]
 13%|█▎        | 113/900 [09:29<2:10:19,  9.94s/it]
 13%|█▎        | 114/900 [09:29<1:32:12,  7.04s/it]
 13%|█▎        | 115/900 [09:29<1:05:32,  5.01s/it]
 13%|█▎        | 116/900 [09:30<46:54,  3.59s/it]  
 13%|█▎        | 117/900 [09:30<33:50,  2.59s/it]
 13%|█▎        | 118/900 [09:30<24:44,  1.90s/it]
 13%|█▎        | 119/900 [09:31<18:21,  1.41s/it]
 13%|█▎        | 120/900 [09:31<13:54,  1.07s/it]
 13%|█▎        | 121/900 [10:56<5:42:22, 26.37s/it]
 14%|█▎        | 122/900 [10:57<4:00:19, 18.53s/it]
 14%|█▎        | 122/900 [10:57<1:09:52,  5.39s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json.
+FoodPacking1BoxesTask_1 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_1, run: 1, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 123, duration: 8.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.1926427085163285, 'joint_sparc_mean': -6.054204988386705, 'ee_isj': 1682.8052231318431, 'joint_isj': 18779.46196523404, 'ee_path_length': 1.8386084443368078, 'joint_rmse_mean': 0.9327003231371339, 'ee_speed_max': 0.9063391089439392, 'ee_speed_mean': 0.21021237969398499}, events: {'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 627.781, 'policy_inference_avg_ms': 5103.9, 'env_step_s': 27.847, 'env_step_avg_ms': 226.4, 'video_write_s': 1.675, 'video_write_avg_ms': 13.6, 'wall_total_s': 657.303, 'it_per_sec': 0.19}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: acddffdddbd3471bb56d7d452056c02a-1
+[RoboLab] Running FoodPacking1BoxesTask_2: 'Pack boxed foods into the bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:45<11:28:58, 45.98s/it]
  0%|          | 2/900 [00:46<4:45:38, 19.09s/it] 
  0%|          | 3/900 [00:46<2:36:43, 10.48s/it]
  0%|          | 4/900 [00:46<1:36:12,  6.44s/it]
  1%|          | 5/900 [00:46<1:02:45,  4.21s/it]
  1%|          | 6/900 [00:47<42:38,  2.86s/it]  
  1%|          | 7/900 [00:47<29:55,  2.01s/it]
  1%|          | 8/900 [00:47<21:34,  1.45s/it]
  1%|          | 9/900 [01:01<1:18:21,  5.28s/it]
  1%|          | 10/900 [01:01<55:13,  3.72s/it] 
  1%|          | 11/900 [01:01<39:24,  2.66s/it]
  1%|▏         | 12/900 [01:02<28:32,  1.93s/it]
  1%|▏         | 13/900 [01:02<21:02,  1.42s/it]
  2%|▏         | 14/900 [01:02<15:48,  1.07s/it]
  2%|▏         | 15/900 [01:02<12:10,  1.21it/s]
  2%|▏         | 16/900 [01:03<09:35,  1.54it/s]
  2%|▏         | 17/900 [01:28<1:58:53,  8.08s/it]
  2%|▏         | 18/900 [01:28<1:24:09,  5.73s/it]
  2%|▏         | 19/900 [01:29<59:55,  4.08s/it]  
  2%|▏         | 20/900 [01:29<42:58,  2.93s/it]
  2%|▏         | 21/900 [01:29<31:11,  2.13s/it]
  2%|▏         | 22/900 [01:29<22:53,  1.56s/it]
  3%|▎         | 23/900 [01:30<17:04,  1.17s/it]
  3%|▎         | 24/900 [01:30<13:01,  1.12it/s]
  3%|▎         | 25/900 [02:00<2:20:56,  9.66s/it]
  3%|▎         | 26/900 [02:00<1:39:37,  6.84s/it]
  3%|▎         | 27/900 [02:00<1:10:44,  4.86s/it]
  3%|▎         | 28/900 [02:01<50:31,  3.48s/it]  
  3%|▎         | 29/900 [02:01<36:24,  2.51s/it]
  3%|▎         | 30/900 [02:01<26:37,  1.84s/it]
  3%|▎         | 31/900 [02:01<19:47,  1.37s/it]
  4%|▎         | 32/900 [02:02<15:00,  1.04s/it]
  4%|▎         | 33/900 [02:21<1:35:20,  6.60s/it]
  4%|▍         | 34/900 [02:22<1:07:45,  4.69s/it]
  4%|▍         | 35/900 [02:22<48:26,  3.36s/it]  
  4%|▍         | 36/900 [02:22<34:56,  2.43s/it]
  4%|▍         | 37/900 [02:22<25:29,  1.77s/it]
  4%|▍         | 38/900 [02:23<18:54,  1.32s/it]
  4%|▍         | 39/900 [02:23<14:17,  1.00it/s]
  4%|▍         | 40/900 [02:23<11:04,  1.30it/s]
  5%|▍         | 41/900 [02:48<1:52:53,  7.89s/it]
  5%|▍         | 42/900 [02:48<1:19:59,  5.59s/it]
  5%|▍         | 43/900 [02:48<56:59,  3.99s/it]  
  5%|▍         | 44/900 [02:48<40:53,  2.87s/it]
  5%|▌         | 45/900 [02:49<29:38,  2.08s/it]
  5%|▌         | 46/900 [02:49<21:45,  1.53s/it]
  5%|▌         | 47/900 [02:49<16:16,  1.14s/it]
  5%|▌         | 48/900 [02:49<12:25,  1.14it/s]
  5%|▌         | 49/900 [03:22<2:28:08, 10.44s/it]
  6%|▌         | 50/900 [03:22<1:44:37,  7.39s/it]
  6%|▌         | 51/900 [03:23<1:14:13,  5.25s/it]
  6%|▌         | 52/900 [03:23<52:56,  3.75s/it]  
  6%|▌         | 53/900 [03:23<38:02,  2.70s/it]
  6%|▌         | 54/900 [03:23<27:38,  1.96s/it]
  6%|▌         | 55/900 [03:23<20:21,  1.45s/it]
  6%|▌         | 56/900 [03:24<15:16,  1.09s/it]
  6%|▋         | 57/900 [03:44<1:37:02,  6.91s/it]
  6%|▋         | 58/900 [03:44<1:08:52,  4.91s/it]
  7%|▋         | 59/900 [03:45<49:11,  3.51s/it]  
  7%|▋         | 60/900 [03:45<35:25,  2.53s/it]
  7%|▋         | 61/900 [03:45<25:48,  1.85s/it]
  7%|▋         | 62/900 [03:45<19:05,  1.37s/it]
  7%|▋         | 63/900 [03:46<14:22,  1.03s/it]
  7%|▋         | 64/900 [03:46<11:04,  1.26it/s]
  7%|▋         | 65/900 [04:03<1:18:22,  5.63s/it]
  7%|▋         | 66/900 [04:03<55:50,  4.02s/it]  
  7%|▋         | 67/900 [04:03<40:04,  2.89s/it]
  8%|▊         | 68/900 [04:04<29:02,  2.09s/it]
  8%|▊         | 69/900 [04:04<21:19,  1.54s/it]
  8%|▊         | 70/900 [04:04<15:55,  1.15s/it]
  8%|▊         | 71/900 [04:04<12:09,  1.14it/s]
  8%|▊         | 72/900 [04:05<09:43,  1.42it/s]
  8%|▊         | 73/900 [04:22<1:19:40,  5.78s/it]
  8%|▊         | 74/900 [04:23<56:43,  4.12s/it]  
  8%|▊         | 75/900 [04:23<40:41,  2.96s/it]
  8%|▊         | 76/900 [04:23<29:28,  2.15s/it]
  9%|▊         | 77/900 [04:23<21:38,  1.58s/it]
  9%|▊         | 78/900 [04:24<16:07,  1.18s/it]
  9%|▉         | 79/900 [04:24<12:17,  1.11it/s]
  9%|▉         | 80/900 [04:24<09:36,  1.42it/s]
  9%|▉         | 81/900 [04:42<1:21:09,  5.95s/it]
  9%|▉         | 82/900 [04:42<57:45,  4.24s/it]  
  9%|▉         | 83/900 [04:43<41:23,  3.04s/it]
  9%|▉         | 84/900 [04:43<29:56,  2.20s/it]
  9%|▉         | 85/900 [04:43<21:56,  1.61s/it]
 10%|▉         | 86/900 [04:43<16:26,  1.21s/it]
 10%|▉         | 87/900 [04:44<12:36,  1.07it/s]
 10%|▉         | 88/900 [04:44<09:56,  1.36it/s]
 10%|▉         | 89/900 [05:29<3:10:35, 14.10s/it]
 10%|█         | 90/900 [05:30<2:14:17,  9.95s/it]
 10%|█         | 91/900 [05:30<1:34:53,  7.04s/it]
 10%|█         | 92/900 [05:30<1:07:21,  5.00s/it]
 10%|█         | 93/900 [05:30<48:05,  3.58s/it]  
 10%|█         | 94/900 [05:31<34:36,  2.58s/it]
 11%|█         | 95/900 [05:31<25:11,  1.88s/it]
 11%|█         | 96/900 [05:31<18:36,  1.39s/it]
 11%|█         | 97/900 [05:51<1:33:27,  6.98s/it]
 11%|█         | 98/900 [05:51<1:06:20,  4.96s/it]
 11%|█         | 99/900 [05:52<47:22,  3.55s/it]  
 11%|█         | 100/900 [05:52<34:06,  2.56s/it]
 11%|█         | 101/900 [05:52<24:50,  1.87s/it]
 11%|█▏        | 102/900 [05:52<18:21,  1.38s/it]
 11%|█▏        | 103/900 [05:53<13:48,  1.04s/it]
 12%|█▏        | 104/900 [05:53<10:38,  1.25it/s]
 12%|█▏        | 105/900 [06:11<1:18:44,  5.94s/it]
 12%|█▏        | 106/900 [06:11<56:01,  4.23s/it]  
 12%|█▏        | 107/900 [06:11<40:08,  3.04s/it]
 12%|█▏        | 108/900 [06:11<29:02,  2.20s/it]
 12%|█▏        | 109/900 [06:12<21:16,  1.61s/it]
 12%|█▏        | 110/900 [06:12<15:50,  1.20s/it]
 12%|█▏        | 111/900 [06:12<12:02,  1.09it/s]
 12%|█▏        | 112/900 [06:12<09:23,  1.40it/s]
 13%|█▎        | 113/900 [06:46<2:20:09, 10.69s/it]
 13%|█▎        | 114/900 [06:47<1:38:57,  7.55s/it]
 13%|█▎        | 115/900 [06:47<1:10:08,  5.36s/it]
 13%|█▎        | 116/900 [06:47<50:01,  3.83s/it]  
 13%|█▎        | 117/900 [06:47<35:59,  2.76s/it]
 13%|█▎        | 118/900 [06:48<26:10,  2.01s/it]
 13%|█▎        | 119/900 [06:48<19:21,  1.49s/it]
 13%|█▎        | 120/900 [06:48<14:35,  1.12s/it]
 13%|█▎        | 121/900 [07:30<2:54:23, 13.43s/it]
 14%|█▎        | 122/900 [07:31<2:02:53,  9.48s/it]
 14%|█▎        | 123/900 [07:31<1:26:52,  6.71s/it]
 14%|█▍        | 124/900 [07:31<1:01:40,  4.77s/it]
 14%|█▍        | 125/900 [07:31<44:04,  3.41s/it]  
 14%|█▍        | 126/900 [07:32<31:46,  2.46s/it]
 14%|█▍        | 127/900 [07:32<23:09,  1.80s/it]
 14%|█▍        | 128/900 [07:32<17:08,  1.33s/it]
 14%|█▍        | 129/900 [08:17<3:04:32, 14.36s/it]
 14%|█▍        | 130/900 [08:17<2:09:57, 10.13s/it]
 15%|█▍        | 131/900 [08:17<1:31:49,  7.16s/it]
 15%|█▍        | 132/900 [08:18<1:05:09,  5.09s/it]
 15%|█▍        | 133/900 [08:18<46:29,  3.64s/it]  
 15%|█▍        | 134/900 [08:18<33:27,  2.62s/it]
 15%|█▌        | 135/900 [08:18<24:19,  1.91s/it]
 15%|█▌        | 136/900 [08:19<17:57,  1.41s/it]
 15%|█▌        | 137/900 [08:35<1:16:23,  6.01s/it]
 15%|█▌        | 138/900 [08:36<54:20,  4.28s/it]  
 15%|█▌        | 139/900 [08:36<38:56,  3.07s/it]
 16%|█▌        | 140/900 [08:36<28:10,  2.22s/it]
 16%|█▌        | 141/900 [08:36<20:37,  1.63s/it]
 16%|█▌        | 142/900 [08:37<15:21,  1.22s/it]
 16%|█▌        | 143/900 [08:37<11:43,  1.08it/s]
 16%|█▌        | 144/900 [08:37<09:14,  1.36it/s]
 16%|█▌        | 145/900 [08:53<1:07:08,  5.34s/it]
 16%|█▌        | 146/900 [08:53<47:57,  3.82s/it]  
 16%|█▋        | 147/900 [08:54<34:32,  2.75s/it]
 16%|█▋        | 148/900 [08:54<25:09,  2.01s/it]
 17%|█▋        | 149/900 [08:54<18:35,  1.49s/it]
 17%|█▋        | 150/900 [08:55<14:00,  1.12s/it]
 17%|█▋        | 151/900 [08:55<10:48,  1.16it/s]
 17%|█▋        | 152/900 [08:55<08:33,  1.46it/s]
 17%|█▋        | 153/900 [09:22<1:44:54,  8.43s/it]
 17%|█▋        | 154/900 [09:22<1:14:20,  5.98s/it]
 17%|█▋        | 155/900 [09:22<52:58,  4.27s/it]  
 17%|█▋        | 156/900 [09:22<37:56,  3.06s/it]
 17%|█▋        | 157/900 [09:23<27:27,  2.22s/it]
 18%|█▊        | 158/900 [09:23<20:07,  1.63s/it]
 18%|█▊        | 159/900 [09:23<14:59,  1.21s/it]
 18%|█▊        | 160/900 [09:23<11:23,  1.08it/s]
 18%|█▊        | 161/900 [09:53<1:56:36,  9.47s/it]
 18%|█▊        | 162/900 [09:53<1:22:26,  6.70s/it]
 18%|█▊        | 163/900 [09:53<58:33,  4.77s/it]  
 18%|█▊        | 164/900 [09:53<41:50,  3.41s/it]
 18%|█▊        | 165/900 [09:54<30:09,  2.46s/it]
 18%|█▊        | 166/900 [09:54<21:59,  1.80s/it]
 19%|█▊        | 167/900 [09:54<16:16,  1.33s/it]
 19%|█▊        | 168/900 [09:54<12:18,  1.01s/it]
 19%|█▉        | 169/900 [10:18<1:36:05,  7.89s/it]
 19%|█▉        | 170/900 [10:19<1:08:06,  5.60s/it]
 19%|█▉        | 171/900 [10:19<48:32,  4.00s/it]  
 19%|█▉        | 172/900 [10:19<34:51,  2.87s/it]
 19%|█▉        | 173/900 [10:19<25:18,  2.09s/it]
 19%|█▉        | 174/900 [10:20<18:37,  1.54s/it]
 19%|█▉        | 175/900 [10:20<13:56,  1.15s/it]
 20%|█▉        | 176/900 [10:20<10:40,  1.13it/s]
 20%|█▉        | 177/900 [11:39<4:51:07, 24.16s/it]
 20%|█▉        | 178/900 [11:39<3:24:25, 16.99s/it]
 20%|█▉        | 179/900 [11:39<2:23:49, 11.97s/it]
 20%|██        | 180/900 [11:39<1:41:27,  8.45s/it]
 20%|██        | 181/900 [11:40<1:11:51,  6.00s/it]
 20%|██        | 182/900 [11:40<51:09,  4.28s/it]  
 20%|██        | 183/900 [11:40<36:41,  3.07s/it]
 20%|██        | 184/900 [11:41<26:38,  2.23s/it]
 21%|██        | 185/900 [12:39<3:45:59, 18.96s/it]
 21%|██        | 186/900 [12:39<2:38:54, 13.35s/it]
 21%|██        | 187/900 [12:39<1:52:01,  9.43s/it]
 21%|██        | 188/900 [12:39<1:19:14,  6.68s/it]
 21%|██        | 189/900 [12:40<56:17,  4.75s/it]  
 21%|██        | 190/900 [12:40<40:14,  3.40s/it]
 21%|██        | 191/900 [12:40<29:03,  2.46s/it]
 21%|██▏       | 192/900 [12:40<21:14,  1.80s/it]
 21%|██▏       | 193/900 [13:04<1:37:54,  8.31s/it]
 22%|██▏       | 194/900 [13:04<1:09:23,  5.90s/it]
 22%|██▏       | 195/900 [13:04<49:27,  4.21s/it]  
 22%|██▏       | 196/900 [13:05<35:31,  3.03s/it]
 22%|██▏       | 197/900 [13:05<25:46,  2.20s/it]
 22%|██▏       | 198/900 [13:05<18:57,  1.62s/it]
 22%|██▏       | 199/900 [13:05<14:11,  1.21s/it]
 22%|██▏       | 200/900 [13:06<10:51,  1.07it/s]
 22%|██▏       | 201/900 [13:53<2:54:06, 14.94s/it]
 22%|██▏       | 202/900 [13:54<2:02:34, 10.54s/it]
 23%|██▎       | 203/900 [13:54<1:26:33,  7.45s/it]
 23%|██▎       | 204/900 [13:54<1:01:21,  5.29s/it]
 23%|██▎       | 205/900 [13:54<43:44,  3.78s/it]  
 23%|██▎       | 206/900 [13:55<31:25,  2.72s/it]
 23%|██▎       | 207/900 [13:55<22:49,  1.98s/it]
 23%|██▎       | 208/900 [13:55<16:50,  1.46s/it]
 23%|██▎       | 209/900 [14:43<2:58:03, 15.46s/it]
 23%|██▎       | 210/900 [14:43<2:05:20, 10.90s/it]
 23%|██▎       | 211/900 [14:44<1:28:27,  7.70s/it]
 24%|██▎       | 212/900 [14:44<1:02:40,  5.47s/it]
 24%|██▎       | 213/900 [14:44<44:38,  3.90s/it]  
 24%|██▍       | 214/900 [14:44<32:02,  2.80s/it]
 24%|██▍       | 215/900 [14:45<23:15,  2.04s/it]
 24%|██▍       | 216/900 [14:45<17:05,  1.50s/it]
 24%|██▍       | 217/900 [15:23<2:22:10, 12.49s/it]
 24%|██▍       | 218/900 [15:23<1:40:13,  8.82s/it]
 24%|██▍       | 219/900 [15:24<1:10:56,  6.25s/it]
 24%|██▍       | 220/900 [15:24<50:25,  4.45s/it]  
 25%|██▍       | 221/900 [15:24<36:04,  3.19s/it]
 25%|██▍       | 222/900 [15:24<26:03,  2.31s/it]
 25%|██▍       | 223/900 [15:25<19:03,  1.69s/it]
 25%|██▍       | 224/900 [15:25<14:11,  1.26s/it]
 25%|██▌       | 225/900 [15:50<1:35:18,  8.47s/it]
 25%|██▌       | 226/900 [15:50<1:07:32,  6.01s/it]
 25%|██▌       | 227/900 [15:51<48:18,  4.31s/it]  
 25%|██▌       | 228/900 [15:51<34:41,  3.10s/it]
 25%|██▌       | 229/900 [15:51<25:09,  2.25s/it]
 26%|██▌       | 230/900 [15:52<18:30,  1.66s/it]
 26%|██▌       | 231/900 [15:52<13:51,  1.24s/it]
 26%|██▌       | 232/900 [15:52<10:35,  1.05it/s]
 26%|██▌       | 233/900 [17:37<5:56:35, 32.08s/it]
 26%|██▌       | 234/900 [17:37<4:10:10, 22.54s/it]
 26%|██▌       | 235/900 [17:37<2:55:45, 15.86s/it]
 26%|██▌       | 236/900 [17:38<2:03:41, 11.18s/it]
 26%|██▋       | 237/900 [17:38<1:27:16,  7.90s/it]
 26%|██▋       | 238/900 [17:38<1:01:48,  5.60s/it]
 27%|██▋       | 239/900 [17:38<44:00,  3.99s/it]  
 27%|██▋       | 240/900 [17:39<31:33,  2.87s/it]
 27%|██▋       | 241/900 [18:07<1:57:11, 10.67s/it]
 27%|██▋       | 242/900 [18:08<1:22:44,  7.55s/it]
 27%|██▋       | 243/900 [18:08<58:38,  5.36s/it]  
 27%|██▋       | 244/900 [18:08<41:47,  3.82s/it]
 27%|██▋       | 245/900 [18:08<30:01,  2.75s/it]
 27%|██▋       | 246/900 [18:09<21:48,  2.00s/it]
 27%|██▋       | 247/900 [18:09<16:05,  1.48s/it]
 28%|██▊       | 248/900 [18:09<12:05,  1.11s/it]
 28%|██▊       | 249/900 [18:38<1:42:27,  9.44s/it]
 28%|██▊       | 250/900 [18:38<1:12:28,  6.69s/it]
 28%|██▊       | 251/900 [18:39<51:30,  4.76s/it]  
 28%|██▊       | 252/900 [18:39<36:52,  3.41s/it]
 28%|██▊       | 253/900 [18:39<26:37,  2.47s/it]
 28%|██▊       | 254/900 [18:39<19:28,  1.81s/it]
 28%|██▊       | 255/900 [18:40<14:27,  1.35s/it]
 28%|██▊       | 256/900 [18:40<10:58,  1.02s/it]
 29%|██▊       | 257/900 [19:59<4:20:35, 24.32s/it]
 29%|██▊       | 258/900 [19:59<3:03:00, 17.10s/it]
 29%|██▉       | 259/900 [19:59<2:08:46, 12.05s/it]
 29%|██▉       | 260/900 [19:59<1:30:51,  8.52s/it]
 29%|██▉       | 261/900 [20:00<1:04:20,  6.04s/it]
 29%|██▉       | 262/900 [20:00<45:48,  4.31s/it]  
 29%|██▉       | 263/900 [20:00<32:51,  3.09s/it]
 29%|██▉       | 264/900 [20:01<23:47,  2.25s/it]
 29%|██▉       | 265/900 [20:37<2:13:54, 12.65s/it]
 30%|██▉       | 266/900 [20:38<1:34:26,  8.94s/it]
 30%|██▉       | 267/900 [20:38<1:06:49,  6.33s/it]
 30%|██▉       | 268/900 [20:38<47:33,  4.52s/it]  
 30%|██▉       | 269/900 [20:39<34:06,  3.24s/it]
 30%|███       | 270/900 [20:39<24:41,  2.35s/it]
 30%|███       | 271/900 [20:39<18:04,  1.72s/it]
 30%|███       | 272/900 [20:39<13:24,  1.28s/it]
 30%|███       | 273/900 [22:48<6:54:20, 39.65s/it]
 30%|███       | 274/900 [22:49<4:50:20, 27.83s/it]
 31%|███       | 275/900 [22:49<3:23:41, 19.55s/it]
 31%|███       | 276/900 [22:49<2:23:07, 13.76s/it]
 31%|███       | 277/900 [22:49<1:40:47,  9.71s/it]
 31%|███       | 278/900 [22:50<1:11:14,  6.87s/it]
 31%|███       | 279/900 [22:50<50:34,  4.89s/it]  
 31%|███       | 280/900 [22:50<36:06,  3.49s/it]
 31%|███       | 281/900 [23:49<3:26:36, 20.03s/it]
 31%|███▏      | 282/900 [23:49<2:25:08, 14.09s/it]
 31%|███▏      | 283/900 [23:49<1:42:11,  9.94s/it]
 32%|███▏      | 284/900 [23:50<1:12:11,  7.03s/it]
 32%|███▏      | 285/900 [23:50<51:12,  5.00s/it]  
 32%|███▏      | 286/900 [23:50<36:32,  3.57s/it]
 32%|███▏      | 287/900 [23:50<26:18,  2.57s/it]
 32%|███▏      | 288/900 [23:51<19:07,  1.88s/it]
 32%|███▏      | 289/900 [26:45<9:07:00, 53.72s/it]
 32%|███▏      | 290/900 [26:45<6:23:02, 37.68s/it]
 32%|███▏      | 291/900 [26:46<4:28:25, 26.45s/it]
 32%|███▏      | 292/900 [26:46<3:08:20, 18.59s/it]
 33%|███▎      | 293/900 [26:46<2:12:22, 13.08s/it]
 33%|███▎      | 294/900 [26:46<1:33:15,  9.23s/it]
 33%|███▎      | 295/900 [26:47<1:05:55,  6.54s/it]
 33%|███▎      | 296/900 [26:47<46:48,  4.65s/it]  
 33%|███▎      | 297/900 [28:10<4:43:12, 28.18s/it]
 33%|███▎      | 298/900 [28:10<3:18:40, 19.80s/it]
 33%|███▎      | 299/900 [28:11<2:19:34, 13.94s/it]
 33%|███▎      | 300/900 [28:11<1:38:17,  9.83s/it]
 33%|███▎      | 301/900 [28:11<1:09:26,  6.96s/it]
 34%|███▎      | 302/900 [28:11<49:15,  4.94s/it]  
 34%|███▎      | 303/900 [28:12<35:19,  3.55s/it]
 34%|███▍      | 304/900 [28:12<25:25,  2.56s/it]
 34%|███▍      | 305/900 [29:27<4:02:13, 24.43s/it]
 34%|███▍      | 306/900 [29:28<2:50:01, 17.17s/it]
 34%|███▍      | 307/900 [29:28<1:59:33, 12.10s/it]
 34%|███▍      | 308/900 [29:28<1:24:16,  8.54s/it]
 34%|███▍      | 309/900 [29:28<59:37,  6.05s/it]  
 34%|███▍      | 310/900 [29:29<42:24,  4.31s/it]
 35%|███▍      | 311/900 [29:29<30:21,  3.09s/it]
 35%|███▍      | 312/900 [29:29<21:56,  2.24s/it]
 35%|███▍      | 313/900 [29:57<1:38:25, 10.06s/it]
 35%|███▍      | 314/900 [29:58<1:09:32,  7.12s/it]
 35%|███▌      | 315/900 [29:58<49:20,  5.06s/it]  
 35%|███▌      | 316/900 [29:58<35:11,  3.62s/it]
 35%|███▌      | 317/900 [29:58<25:19,  2.61s/it]
 35%|███▌      | 318/900 [29:59<18:24,  1.90s/it]
 35%|███▌      | 319/900 [29:59<13:34,  1.40s/it]
 36%|███▌      | 320/900 [29:59<10:11,  1.05s/it]
 36%|███▌      | 321/900 [30:39<2:03:12, 12.77s/it]
 36%|███▌      | 322/900 [30:39<1:26:48,  9.01s/it]
 36%|███▌      | 323/900 [30:40<1:01:22,  6.38s/it]
 36%|███▌      | 324/900 [30:40<43:36,  4.54s/it]  
 36%|███▌      | 325/900 [30:40<31:10,  3.25s/it]
 36%|███▌      | 326/900 [30:40<22:29,  2.35s/it]
 36%|███▋      | 327/900 [30:41<16:25,  1.72s/it]
 36%|███▋      | 328/900 [30:41<12:11,  1.28s/it]
 37%|███▋      | 329/900 [31:24<2:11:22, 13.80s/it]
 37%|███▋      | 330/900 [31:24<1:32:35,  9.75s/it]
 37%|███▋      | 331/900 [31:24<1:05:27,  6.90s/it]
 37%|███▋      | 332/900 [31:25<46:31,  4.91s/it]  
 37%|███▋      | 333/900 [31:25<33:17,  3.52s/it]
 37%|███▋      | 334/900 [31:25<24:01,  2.55s/it]
 37%|███▋      | 335/900 [31:26<17:33,  1.86s/it]
 37%|███▋      | 336/900 [31:26<13:01,  1.39s/it]
 37%|███▋      | 337/900 [32:47<3:58:04, 25.37s/it]
 38%|███▊      | 338/900 [32:47<2:47:06, 17.84s/it]
 38%|███▊      | 339/900 [32:48<1:57:29, 12.57s/it]
 38%|███▊      | 340/900 [32:48<1:22:49,  8.87s/it]
 38%|███▊      | 341/900 [32:48<58:36,  6.29s/it]  
 38%|███▊      | 342/900 [32:48<41:40,  4.48s/it]
 38%|███▊      | 343/900 [32:49<29:50,  3.21s/it]
 38%|███▊      | 344/900 [32:49<21:34,  2.33s/it]
 38%|███▊      | 345/900 [33:35<2:23:28, 15.51s/it]
 38%|███▊      | 346/900 [33:36<1:40:58, 10.94s/it]
 39%|███▊      | 347/900 [33:36<1:11:17,  7.74s/it]
 39%|███▊      | 348/900 [33:36<50:33,  5.50s/it]  
 39%|███▉      | 349/900 [33:36<36:03,  3.93s/it]
 39%|███▉      | 350/900 [33:37<25:53,  2.83s/it]
 39%|███▉      | 351/900 [33:37<18:48,  2.05s/it]
 39%|███▉      | 352/900 [33:37<13:50,  1.52s/it]
 39%|███▉      | 353/900 [34:09<1:38:12, 10.77s/it]
 39%|███▉      | 354/900 [34:10<1:09:19,  7.62s/it]
 39%|███▉      | 355/900 [34:10<49:09,  5.41s/it]  
 40%|███▉      | 356/900 [34:10<35:03,  3.87s/it]
 40%|███▉      | 357/900 [34:11<25:12,  2.79s/it]
 40%|███▉      | 358/900 [34:11<18:19,  2.03s/it]
 40%|███▉      | 359/900 [34:11<13:31,  1.50s/it]
 40%|████      | 360/900 [34:11<10:09,  1.13s/it]
 40%|████      | 361/900 [34:49<1:47:24, 11.96s/it]
 40%|████      | 362/900 [34:49<1:15:47,  8.45s/it]
 40%|████      | 363/900 [34:49<53:41,  6.00s/it]  
 40%|████      | 364/900 [34:49<38:13,  4.28s/it]
 41%|████      | 365/900 [34:50<27:26,  3.08s/it]
 41%|████      | 366/900 [34:50<19:53,  2.24s/it]
 41%|████      | 367/900 [34:50<14:36,  1.65s/it]
 41%|████      | 368/900 [34:50<10:54,  1.23s/it]
 41%|████      | 369/900 [38:40<10:17:39, 69.79s/it]
 41%|████      | 370/900 [38:40<7:12:17, 48.94s/it] 
 41%|████      | 371/900 [38:41<5:02:46, 34.34s/it]
 41%|████▏     | 372/900 [38:41<3:32:15, 24.12s/it]
 41%|████▏     | 373/900 [38:41<2:29:01, 16.97s/it]
 42%|████▏     | 374/900 [38:42<1:44:50, 11.96s/it]
 42%|████▏     | 375/900 [38:42<1:13:57,  8.45s/it]
 42%|████▏     | 376/900 [38:42<52:22,  6.00s/it]  
 42%|████▏     | 377/900 [40:04<4:11:51, 28.89s/it]
 42%|████▏     | 378/900 [40:05<2:56:42, 20.31s/it]
 42%|████▏     | 379/900 [40:05<2:04:10, 14.30s/it]
 42%|████▏     | 380/900 [40:05<1:27:27, 10.09s/it]
 42%|████▏     | 381/900 [40:06<1:01:48,  7.14s/it]
 42%|████▏     | 382/900 [40:06<43:52,  5.08s/it]  
 43%|████▎     | 383/900 [40:06<31:20,  3.64s/it]
 43%|████▎     | 384/900 [40:06<22:35,  2.63s/it]
 43%|████▎     | 385/900 [42:22<6:03:58, 42.40s/it]
 43%|████▎     | 386/900 [42:22<4:14:59, 29.76s/it]
 43%|████▎     | 387/900 [42:22<2:58:50, 20.92s/it]
 43%|████▎     | 388/900 [42:22<2:05:35, 14.72s/it]
 43%|████▎     | 389/900 [42:23<1:28:22, 10.38s/it]
 43%|████▎     | 390/900 [42:23<1:02:22,  7.34s/it]
 43%|████▎     | 391/900 [42:23<44:11,  5.21s/it]  
 44%|████▎     | 392/900 [42:23<31:30,  3.72s/it]
 44%|████▎     | 393/900 [45:41<8:42:13, 61.80s/it]
 44%|████▍     | 394/900 [45:41<6:05:27, 43.34s/it]
 44%|████▍     | 395/900 [45:41<4:15:56, 30.41s/it]
 44%|████▍     | 396/900 [45:41<2:59:25, 21.36s/it]
 44%|████▍     | 397/900 [45:42<2:05:58, 15.03s/it]
 44%|████▍     | 398/900 [45:42<1:28:37, 10.59s/it]
 44%|████▍     | 399/900 [45:42<1:02:31,  7.49s/it]
 44%|████▍     | 400/900 [45:42<44:17,  5.32s/it]  
 45%|████▍     | 401/900 [46:18<1:59:49, 14.41s/it]
 45%|████▍     | 402/900 [46:18<1:24:20, 10.16s/it]
 45%|████▍     | 403/900 [46:19<59:34,  7.19s/it]  
 45%|████▍     | 404/900 [46:19<42:15,  5.11s/it]
 45%|████▌     | 405/900 [46:19<30:09,  3.65s/it]
 45%|████▌     | 406/900 [46:19<21:41,  2.63s/it]
 45%|████▌     | 407/900 [46:20<15:45,  1.92s/it]
 45%|████▌     | 408/900 [46:20<11:36,  1.42s/it]
 45%|████▌     | 409/900 [49:05<6:52:37, 50.42s/it]
 46%|████▌     | 410/900 [49:05<4:48:51, 35.37s/it]
 46%|████▌     | 411/900 [49:05<3:22:23, 24.83s/it]
 46%|████▌     | 412/900 [49:05<2:21:59, 17.46s/it]
 46%|████▌     | 413/900 [49:06<1:39:47, 12.29s/it]
 46%|████▌     | 414/900 [49:06<1:10:18,  8.68s/it]
 46%|████▌     | 415/900 [49:06<49:42,  6.15s/it]  
 46%|████▌     | 416/900 [49:06<35:18,  4.38s/it]
 46%|████▋     | 417/900 [50:37<4:02:48, 30.16s/it]
 46%|████▋     | 418/900 [50:37<2:50:12, 21.19s/it]
 47%|████▋     | 419/900 [50:37<1:59:29, 14.91s/it]
 47%|████▋     | 420/900 [50:37<1:24:03, 10.51s/it]
 47%|████▋     | 421/900 [50:38<59:19,  7.43s/it]  
 47%|████▋     | 422/900 [50:38<42:01,  5.28s/it]
 47%|████▋     | 423/900 [50:38<29:56,  3.77s/it]
 47%|████▋     | 424/900 [50:38<21:30,  2.71s/it]
 47%|████▋     | 425/900 [51:23<2:00:50, 15.26s/it]
 47%|████▋     | 426/900 [51:23<1:24:59, 10.76s/it]
 47%|████▋     | 427/900 [51:23<59:57,  7.61s/it]  
 48%|████▊     | 428/900 [51:24<42:27,  5.40s/it]
 48%|████▊     | 429/900 [51:24<30:15,  3.85s/it]
 48%|████▊     | 430/900 [51:24<21:46,  2.78s/it]
 48%|████▊     | 431/900 [51:24<15:50,  2.03s/it]
 48%|████▊     | 432/900 [51:25<11:42,  1.50s/it]
 48%|████▊     | 433/900 [53:04<4:00:47, 30.94s/it]
 48%|████▊     | 434/900 [53:05<2:48:49, 21.74s/it]
 48%|████▊     | 435/900 [53:05<1:58:33, 15.30s/it]
 48%|████▊     | 436/900 [53:05<1:23:25, 10.79s/it]
 49%|████▊     | 437/900 [53:05<58:52,  7.63s/it]  
 49%|████▊     | 438/900 [53:06<41:45,  5.42s/it]
 49%|████▉     | 439/900 [53:06<29:45,  3.87s/it]
 49%|████▉     | 440/900 [53:06<21:23,  2.79s/it]
 49%|████▉     | 441/900 [54:44<4:00:12, 31.40s/it]
 49%|████▉     | 442/900 [54:45<2:48:23, 22.06s/it]
 49%|████▉     | 443/900 [54:45<1:58:14, 15.52s/it]
 49%|████▉     | 444/900 [54:45<1:23:10, 10.94s/it]
 49%|████▉     | 445/900 [54:45<58:42,  7.74s/it]  
 50%|████▉     | 446/900 [54:46<41:37,  5.50s/it]
 50%|████▉     | 447/900 [54:46<29:41,  3.93s/it]
 50%|████▉     | 448/900 [54:46<21:21,  2.83s/it]
 50%|████▉     | 449/900 [57:09<5:37:12, 44.86s/it]
 50%|█████     | 450/900 [57:09<3:56:08, 31.49s/it]
 50%|█████     | 451/900 [57:10<2:45:31, 22.12s/it]
 50%|█████     | 452/900 [57:10<1:56:12, 15.56s/it]
 50%|█████     | 453/900 [57:10<1:21:45, 10.98s/it]
 50%|█████     | 454/900 [57:11<57:41,  7.76s/it]  
 51%|█████     | 455/900 [57:11<40:53,  5.51s/it]
 51%|█████     | 456/900 [57:11<29:08,  3.94s/it]
 51%|█████     | 457/900 [57:58<2:05:25, 16.99s/it]
 51%|█████     | 458/900 [57:59<1:28:13, 11.98s/it]
 51%|█████     | 459/900 [57:59<1:02:14,  8.47s/it]
 51%|█████     | 460/900 [57:59<44:03,  6.01s/it]  
 51%|█████     | 461/900 [58:00<31:21,  4.29s/it]
 51%|█████▏    | 462/900 [58:00<22:29,  3.08s/it]
 51%|█████▏    | 463/900 [58:00<16:17,  2.24s/it]
 52%|█████▏    | 464/900 [58:00<11:57,  1.65s/it]
 52%|█████▏    | 465/900 [59:14<2:49:24, 23.37s/it]
 52%|█████▏    | 466/900 [59:15<1:58:51, 16.43s/it]
 52%|█████▏    | 467/900 [59:15<1:23:35, 11.58s/it]
 52%|█████▏    | 468/900 [59:15<58:55,  8.18s/it]  
 52%|█████▏    | 469/900 [59:15<41:41,  5.80s/it]
 52%|█████▏    | 470/900 [59:16<29:38,  4.14s/it]
 52%|█████▏    | 471/900 [59:16<21:14,  2.97s/it]
 52%|█████▏    | 472/900 [59:16<15:21,  2.15s/it]
 53%|█████▎    | 473/900 [59:59<1:42:11, 14.36s/it]
 53%|█████▎    | 474/900 [59:59<1:11:54, 10.13s/it]
 53%|█████▎    | 475/900 [1:00:00<50:44,  7.16s/it]
 53%|█████▎    | 476/900 [1:00:00<35:57,  5.09s/it]
 53%|█████▎    | 477/900 [1:00:00<25:38,  3.64s/it]
 53%|█████▎    | 478/900 [1:00:00<18:25,  2.62s/it]
 53%|█████▎    | 479/900 [1:00:01<13:23,  1.91s/it]
 53%|█████▎    | 480/900 [1:00:01<09:52,  1.41s/it]
 53%|█████▎    | 481/900 [1:00:56<2:03:17, 17.65s/it]
 54%|█████▎    | 482/900 [1:00:57<1:26:36, 12.43s/it]
 54%|█████▎    | 483/900 [1:00:57<1:00:59,  8.78s/it]
 54%|█████▍    | 484/900 [1:00:57<43:06,  6.22s/it]  
 54%|█████▍    | 485/900 [1:00:57<30:37,  4.43s/it]
 54%|█████▍    | 486/900 [1:00:58<21:54,  3.17s/it]
 54%|█████▍    | 487/900 [1:00:58<15:49,  2.30s/it]
 54%|█████▍    | 488/900 [1:00:58<11:32,  1.68s/it]
 54%|█████▍    | 489/900 [1:02:05<2:26:09, 21.34s/it]
 54%|█████▍    | 490/900 [1:02:06<1:42:35, 15.01s/it]
 55%|█████▍    | 491/900 [1:02:06<1:12:09, 10.59s/it]
 55%|█████▍    | 492/900 [1:02:06<50:56,  7.49s/it]  
 55%|█████▍    | 493/900 [1:02:06<36:08,  5.33s/it]
 55%|█████▍    | 494/900 [1:02:07<25:48,  3.81s/it]
 55%|█████▌    | 495/900 [1:02:07<18:34,  2.75s/it]
 55%|█████▌    | 496/900 [1:02:07<13:31,  2.01s/it]
 55%|█████▌    | 497/900 [1:02:47<1:30:42, 13.50s/it]
 55%|█████▌    | 498/900 [1:02:48<1:03:53,  9.54s/it]
 55%|█████▌    | 499/900 [1:02:48<45:07,  6.75s/it]  
 56%|█████▌    | 500/900 [1:02:49<32:51,  4.93s/it]
 56%|█████▌    | 501/900 [1:02:49<23:26,  3.53s/it]
 56%|█████▌    | 502/900 [1:02:49<16:52,  2.54s/it]
 56%|█████▌    | 503/900 [1:02:49<12:16,  1.85s/it]
 56%|█████▌    | 504/900 [1:02:50<09:04,  1.38s/it]
 56%|█████▌    | 505/900 [1:03:25<1:15:59, 11.54s/it]
 56%|█████▌    | 506/900 [1:03:25<53:33,  8.16s/it]  
 56%|█████▋    | 507/900 [1:03:25<37:54,  5.79s/it]
 56%|█████▋    | 508/900 [1:03:26<26:57,  4.13s/it]
 57%|█████▋    | 509/900 [1:03:26<19:19,  2.96s/it]
 57%|█████▋    | 510/900 [1:03:26<13:59,  2.15s/it]
 57%|█████▋    | 511/900 [1:03:26<10:15,  1.58s/it]
 57%|█████▋    | 512/900 [1:03:27<07:39,  1.18s/it]
 57%|█████▋    | 513/900 [1:04:19<1:46:49, 16.56s/it]
 57%|█████▋    | 514/900 [1:04:19<1:15:06, 11.68s/it]
 57%|█████▋    | 515/900 [1:04:20<52:55,  8.25s/it]  
 57%|█████▋    | 516/900 [1:04:20<37:25,  5.85s/it]
 57%|█████▋    | 517/900 [1:04:20<26:36,  4.17s/it]
 58%|█████▊    | 518/900 [1:04:20<19:03,  2.99s/it]
 58%|█████▊    | 519/900 [1:04:21<13:47,  2.17s/it]
 58%|█████▊    | 520/900 [1:04:21<10:06,  1.59s/it]
 58%|█████▊    | 521/900 [1:12:24<15:21:36, 145.90s/it]
 58%|█████▊    | 522/900 [1:12:24<10:43:54, 102.21s/it]
 58%|█████▊    | 523/900 [1:12:24<7:30:01, 71.62s/it]  
 58%|█████▊    | 524/900 [1:12:24<5:14:39, 50.21s/it]
 58%|█████▊    | 525/900 [1:12:25<3:40:09, 35.23s/it]
 58%|█████▊    | 526/900 [1:12:25<2:34:10, 24.73s/it]
 59%|█████▊    | 527/900 [1:12:25<1:48:06, 17.39s/it]
 59%|█████▊    | 528/900 [1:12:25<1:15:56, 12.25s/it]
 59%|█████▉    | 529/900 [1:13:33<2:58:29, 28.87s/it]
 59%|█████▉    | 530/900 [1:13:33<2:05:04, 20.28s/it]
 59%|█████▉    | 531/900 [1:13:34<1:27:47, 14.28s/it]
 59%|█████▉    | 532/900 [1:13:34<1:01:45, 10.07s/it]
 59%|█████▉    | 533/900 [1:13:34<43:35,  7.13s/it]  
 59%|█████▉    | 534/900 [1:13:34<30:53,  5.06s/it]
 59%|█████▉    | 535/900 [1:13:35<22:01,  3.62s/it]
 60%|█████▉    | 536/900 [1:13:35<15:50,  2.61s/it]
 60%|█████▉    | 537/900 [1:13:36<12:21,  2.04s/it]
 60%|█████▉    | 538/900 [1:13:36<09:05,  1.51s/it]
 60%|█████▉    | 539/900 [1:13:36<06:48,  1.13s/it]
 60%|██████    | 540/900 [1:13:36<05:12,  1.15it/s]
 60%|██████    | 541/900 [1:13:37<04:06,  1.46it/s]
 60%|██████    | 542/900 [1:13:37<03:19,  1.80it/s]
 60%|██████    | 543/900 [1:13:37<02:46,  2.14it/s]
 60%|██████    | 544/900 [1:13:37<02:23,  2.48it/s]
 61%|██████    | 545/900 [1:13:38<02:54,  2.03it/s]
 61%|██████    | 546/900 [1:13:38<02:28,  2.39it/s]
 61%|██████    | 547/900 [1:13:39<02:10,  2.71it/s]
 61%|██████    | 548/900 [1:13:39<01:58,  2.97it/s]
 61%|██████    | 549/900 [1:13:39<01:49,  3.21it/s]
 61%|██████    | 550/900 [1:13:39<01:43,  3.40it/s]
 61%|██████    | 551/900 [1:13:40<01:38,  3.55it/s]
 61%|██████▏   | 552/900 [1:13:40<01:35,  3.65it/s]
 61%|██████▏   | 553/900 [1:13:41<02:32,  2.27it/s]
 62%|██████▏   | 554/900 [1:13:41<02:12,  2.61it/s]
 62%|██████▏   | 555/900 [1:13:41<01:58,  2.90it/s]
 62%|██████▏   | 556/900 [1:13:41<01:48,  3.16it/s]
 62%|██████▏   | 557/900 [1:13:42<01:41,  3.36it/s]
 62%|██████▏   | 558/900 [1:13:42<01:37,  3.52it/s]
 62%|██████▏   | 559/900 [1:13:42<01:33,  3.65it/s]
 62%|██████▏   | 560/900 [1:13:42<01:31,  3.72it/s]
 62%|██████▏   | 561/900 [1:13:43<02:27,  2.30it/s]
 62%|██████▏   | 562/900 [1:13:43<02:08,  2.63it/s]
 63%|██████▎   | 563/900 [1:13:44<01:55,  2.91it/s]
 63%|██████▎   | 564/900 [1:13:44<01:47,  3.14it/s]
 63%|██████▎   | 565/900 [1:13:44<01:40,  3.35it/s]
 63%|██████▎   | 566/900 [1:13:44<01:35,  3.50it/s]
 63%|██████▎   | 567/900 [1:13:45<01:31,  3.62it/s]
 63%|██████▎   | 568/900 [1:13:45<01:29,  3.71it/s]
 63%|██████▎   | 569/900 [1:14:35<1:23:20, 15.11s/it]
 63%|██████▎   | 570/900 [1:14:35<58:35, 10.65s/it]  
 63%|██████▎   | 571/900 [1:14:35<41:18,  7.53s/it]
 64%|██████▎   | 572/900 [1:14:35<29:14,  5.35s/it]
 64%|██████▎   | 573/900 [1:14:36<20:49,  3.82s/it]
 64%|██████▍   | 574/900 [1:14:36<14:56,  2.75s/it]
 64%|██████▍   | 575/900 [1:14:36<10:50,  2.00s/it]
 64%|██████▍   | 576/900 [1:14:37<07:58,  1.48s/it]
 64%|██████▍   | 577/900 [1:14:37<06:45,  1.25s/it]
 64%|██████▍   | 578/900 [1:14:37<05:07,  1.05it/s]
 64%|██████▍   | 579/900 [1:14:38<03:59,  1.34it/s]
 64%|██████▍   | 580/900 [1:14:38<03:11,  1.67it/s]
 65%|██████▍   | 581/900 [1:14:38<02:37,  2.02it/s]
 65%|██████▍   | 582/900 [1:14:39<02:14,  2.37it/s]
 65%|██████▍   | 583/900 [1:14:39<01:57,  2.69it/s]
 65%|██████▍   | 584/900 [1:14:39<01:46,  2.96it/s]
 65%|██████▌   | 585/900 [1:14:40<02:31,  2.08it/s]
 65%|██████▌   | 586/900 [1:14:40<02:09,  2.42it/s]
 65%|██████▌   | 587/900 [1:14:40<01:54,  2.73it/s]
 65%|██████▌   | 588/900 [1:14:41<01:43,  3.01it/s]
 65%|██████▌   | 589/900 [1:14:41<01:35,  3.25it/s]
 66%|██████▌   | 590/900 [1:14:41<01:30,  3.44it/s]
 66%|██████▌   | 591/900 [1:14:41<01:26,  3.58it/s]
 66%|██████▌   | 592/900 [1:14:42<01:23,  3.68it/s]
 66%|██████▌   | 593/900 [1:14:42<02:11,  2.33it/s]
 66%|██████▌   | 594/900 [1:14:43<01:55,  2.66it/s]
 66%|██████▌   | 595/900 [1:14:43<01:43,  2.95it/s]
 66%|██████▌   | 596/900 [1:14:43<01:35,  3.19it/s]
 66%|██████▋   | 597/900 [1:14:43<01:29,  3.39it/s]
 66%|██████▋   | 598/900 [1:14:44<01:25,  3.54it/s]
 67%|██████▋   | 599/900 [1:14:44<01:22,  3.65it/s]
 67%|██████▋   | 600/900 [1:14:44<01:20,  3.73it/s]
 67%|██████▋   | 601/900 [1:14:45<02:11,  2.27it/s]
 67%|██████▋   | 602/900 [1:14:45<01:54,  2.60it/s]
 67%|██████▋   | 603/900 [1:14:46<01:42,  2.89it/s]
 67%|██████▋   | 604/900 [1:14:46<01:33,  3.15it/s]
 67%|██████▋   | 605/900 [1:14:46<01:27,  3.36it/s]
 67%|██████▋   | 606/900 [1:14:46<01:23,  3.51it/s]
 67%|██████▋   | 607/900 [1:14:47<01:20,  3.62it/s]
 68%|██████▊   | 608/900 [1:14:47<01:18,  3.72it/s]
 68%|██████▊   | 609/900 [1:16:12<2:05:02, 25.78s/it]
 68%|██████▊   | 610/900 [1:16:12<1:27:35, 18.12s/it]
 68%|██████▊   | 611/900 [1:16:13<1:01:28, 12.76s/it]
 68%|██████▊   | 612/900 [1:16:13<43:14,  9.01s/it]  
 68%|██████▊   | 613/900 [1:16:13<30:31,  6.38s/it]
 68%|██████▊   | 614/900 [1:16:13<21:39,  4.54s/it]
 68%|██████▊   | 615/900 [1:16:14<15:28,  3.26s/it]
 68%|██████▊   | 616/900 [1:16:14<11:08,  2.35s/it]
 69%|██████▊   | 617/900 [1:17:53<2:28:27, 31.47s/it]
 69%|██████▊   | 618/900 [1:17:54<1:43:54, 22.11s/it]
 69%|██████▉   | 619/900 [1:17:54<1:12:50, 15.55s/it]
 69%|██████▉   | 620/900 [1:17:54<51:09, 10.96s/it]  
 69%|██████▉   | 621/900 [1:17:54<36:01,  7.75s/it]
 69%|██████▉   | 622/900 [1:17:55<25:28,  5.50s/it]
 69%|██████▉   | 623/900 [1:17:55<18:07,  3.92s/it]
 69%|██████▉   | 624/900 [1:17:55<12:59,  2.82s/it]
 69%|██████▉   | 625/900 [1:19:38<2:30:12, 32.77s/it]
 70%|██████▉   | 626/900 [1:19:38<1:45:06, 23.02s/it]
 70%|██████▉   | 627/900 [1:19:38<1:13:39, 16.19s/it]
 70%|██████▉   | 628/900 [1:19:38<51:42, 11.41s/it]  
 70%|██████▉   | 629/900 [1:19:39<36:24,  8.06s/it]
 70%|███████   | 630/900 [1:19:39<25:43,  5.72s/it]
 70%|███████   | 631/900 [1:19:39<18:16,  4.08s/it]
 70%|███████   | 632/900 [1:19:39<13:05,  2.93s/it]
 70%|███████   | 633/900 [1:23:25<5:09:33, 69.56s/it]
 70%|███████   | 634/900 [1:23:25<3:36:12, 48.77s/it]
 71%|███████   | 635/900 [1:23:25<2:31:07, 34.22s/it]
 71%|███████   | 636/900 [1:23:25<1:45:43, 24.03s/it]
 71%|███████   | 637/900 [1:23:26<1:14:03, 16.90s/it]
 71%|███████   | 638/900 [1:23:26<51:58, 11.90s/it]  
 71%|███████   | 639/900 [1:23:26<36:34,  8.41s/it]
 71%|███████   | 640/900 [1:23:26<25:49,  5.96s/it]
 71%|███████   | 641/900 [1:26:48<4:39:31, 64.75s/it]
 71%|███████▏  | 642/900 [1:26:48<3:15:14, 45.40s/it]
 71%|███████▏  | 643/900 [1:26:49<2:16:27, 31.86s/it]
 72%|███████▏  | 644/900 [1:26:49<1:35:28, 22.38s/it]
 72%|███████▏  | 645/900 [1:26:49<1:06:53, 15.74s/it]
 72%|███████▏  | 646/900 [1:26:50<46:57, 11.09s/it]  
 72%|███████▏  | 647/900 [1:26:50<33:03,  7.84s/it]
 72%|███████▏  | 648/900 [1:26:50<23:22,  5.57s/it]
 72%|███████▏  | 649/900 [1:30:31<4:53:25, 70.14s/it]
 72%|███████▏  | 650/900 [1:30:31<3:24:53, 49.17s/it]
 72%|███████▏  | 651/900 [1:30:31<2:23:09, 34.50s/it]
 72%|███████▏  | 652/900 [1:30:32<1:40:07, 24.22s/it]
 73%|███████▎  | 653/900 [1:30:32<1:10:06, 17.03s/it]
 73%|███████▎  | 654/900 [1:30:32<49:11, 12.00s/it]  
 73%|███████▎  | 655/900 [1:30:32<34:36,  8.47s/it]
 73%|███████▎  | 656/900 [1:30:33<24:26,  6.01s/it]
 73%|███████▎  | 657/900 [1:31:26<1:21:26, 20.11s/it]
 73%|███████▎  | 658/900 [1:31:26<57:04, 14.15s/it]  
 73%|███████▎  | 659/900 [1:31:26<40:06,  9.99s/it]
 73%|███████▎  | 660/900 [1:31:26<28:16,  7.07s/it]
 73%|███████▎  | 661/900 [1:31:27<20:00,  5.02s/it]
 74%|███████▎  | 662/900 [1:31:27<14:15,  3.59s/it]
 74%|███████▎  | 663/900 [1:31:27<10:14,  2.59s/it]
 74%|███████▍  | 664/900 [1:31:27<07:26,  1.89s/it]
 74%|███████▍  | 665/900 [1:32:17<1:02:56, 16.07s/it]
 74%|███████▍  | 666/900 [1:32:17<44:09, 11.32s/it]  
 74%|███████▍  | 667/900 [1:32:17<31:04,  8.00s/it]
 74%|███████▍  | 668/900 [1:32:17<21:57,  5.68s/it]
 74%|███████▍  | 669/900 [1:32:18<15:35,  4.05s/it]
 74%|███████▍  | 670/900 [1:32:18<11:10,  2.91s/it]
 75%|███████▍  | 671/900 [1:32:18<08:04,  2.12s/it]
 75%|███████▍  | 672/900 [1:32:18<05:55,  1.56s/it]
 75%|███████▍  | 673/900 [1:32:19<04:59,  1.32s/it]
 75%|███████▍  | 674/900 [1:32:19<03:45,  1.00it/s]
 75%|███████▌  | 675/900 [1:32:20<02:54,  1.29it/s]
 75%|███████▌  | 676/900 [1:32:20<02:18,  1.62it/s]
 75%|███████▌  | 677/900 [1:32:20<01:53,  1.97it/s]
 75%|███████▌  | 678/900 [1:32:20<01:35,  2.31it/s]
 75%|███████▌  | 679/900 [1:32:21<01:24,  2.63it/s]
 76%|███████▌  | 680/900 [1:32:21<01:15,  2.93it/s]
 76%|███████▌  | 681/900 [1:32:22<01:38,  2.21it/s]
 76%|███████▌  | 682/900 [1:32:22<01:25,  2.55it/s]
 76%|███████▌  | 683/900 [1:32:22<01:15,  2.86it/s]
 76%|███████▌  | 684/900 [1:32:22<01:09,  3.11it/s]
 76%|███████▌  | 685/900 [1:32:23<01:04,  3.33it/s]
 76%|███████▌  | 686/900 [1:32:23<01:01,  3.49it/s]
 76%|███████▋  | 687/900 [1:32:23<00:58,  3.62it/s]
 76%|███████▋  | 688/900 [1:32:23<00:57,  3.72it/s]
 77%|███████▋  | 689/900 [1:32:24<01:25,  2.47it/s]
 77%|███████▋  | 690/900 [1:32:24<01:15,  2.78it/s]
 77%|███████▋  | 691/900 [1:32:25<01:08,  3.06it/s]
 77%|███████▋  | 692/900 [1:32:25<01:03,  3.28it/s]
 77%|███████▋  | 693/900 [1:32:25<00:59,  3.47it/s]
 77%|███████▋  | 694/900 [1:32:25<00:57,  3.60it/s]
 77%|███████▋  | 695/900 [1:32:26<00:55,  3.71it/s]
 77%|███████▋  | 696/900 [1:32:26<00:53,  3.79it/s]
 77%|███████▋  | 697/900 [1:32:28<02:58,  1.14it/s]
 78%|███████▊  | 698/900 [1:32:28<02:19,  1.45it/s]
 78%|███████▊  | 699/900 [1:32:29<01:52,  1.79it/s]
 78%|███████▊  | 700/900 [1:32:29<01:33,  2.15it/s]
 78%|███████▊  | 701/900 [1:32:29<01:19,  2.49it/s]
 78%|███████▊  | 702/900 [1:32:29<01:10,  2.81it/s]
 78%|███████▊  | 703/900 [1:32:30<01:03,  3.08it/s]
 78%|███████▊  | 704/900 [1:32:30<00:59,  3.31it/s]
 78%|███████▊  | 705/900 [1:32:32<03:01,  1.07it/s]
 78%|███████▊  | 706/900 [1:32:33<02:21,  1.37it/s]
 79%|███████▊  | 707/900 [1:32:33<01:53,  1.71it/s]
 79%|███████▊  | 708/900 [1:32:33<01:33,  2.05it/s]
 79%|███████▉  | 709/900 [1:32:33<01:19,  2.39it/s]
 79%|███████▉  | 710/900 [1:32:34<01:09,  2.71it/s]
 79%|███████▉  | 711/900 [1:32:34<01:03,  3.00it/s]
 79%|███████▉  | 712/900 [1:32:34<00:58,  3.23it/s]
 79%|███████▉  | 713/900 [1:32:43<08:34,  2.75s/it]
 79%|███████▉  | 714/900 [1:32:43<06:12,  2.00s/it]
 79%|███████▉  | 715/900 [1:32:43<04:33,  1.48s/it]
 80%|███████▉  | 716/900 [1:32:43<03:24,  1.11s/it]
 80%|███████▉  | 717/900 [1:32:44<02:35,  1.17it/s]
 80%|███████▉  | 718/900 [1:32:44<02:02,  1.49it/s]
 80%|███████▉  | 719/900 [1:32:44<01:38,  1.84it/s]
 80%|████████  | 720/900 [1:32:44<01:22,  2.19it/s]
 80%|████████  | 721/900 [1:32:46<02:13,  1.34it/s]
 80%|████████  | 722/900 [1:32:46<01:46,  1.66it/s]
 80%|████████  | 723/900 [1:32:46<01:27,  2.01it/s]
 80%|████████  | 724/900 [1:32:46<01:14,  2.36it/s]
 81%|████████  | 725/900 [1:32:47<01:05,  2.68it/s]
 81%|████████  | 726/900 [1:32:47<00:58,  2.97it/s]
 81%|████████  | 727/900 [1:32:47<00:54,  3.20it/s]
 81%|████████  | 728/900 [1:32:48<00:51,  3.37it/s]
 81%|████████  | 729/900 [1:32:48<01:11,  2.39it/s]
 81%|████████  | 730/900 [1:32:48<01:02,  2.72it/s]
 81%|████████  | 731/900 [1:32:49<00:56,  3.00it/s]
 81%|████████▏ | 732/900 [1:32:49<00:52,  3.23it/s]
 81%|████████▏ | 733/900 [1:32:49<00:48,  3.41it/s]
 82%|████████▏ | 734/900 [1:32:49<00:46,  3.56it/s]
 82%|████████▏ | 735/900 [1:32:50<00:44,  3.68it/s]
 82%|████████▏ | 736/900 [1:32:50<00:43,  3.74it/s]
 82%|████████▏ | 737/900 [1:32:51<01:34,  1.72it/s]
 82%|████████▏ | 738/900 [1:32:52<01:18,  2.07it/s]
 82%|████████▏ | 739/900 [1:32:52<01:06,  2.42it/s]
 82%|████████▏ | 740/900 [1:32:52<00:58,  2.74it/s]
 82%|████████▏ | 741/900 [1:32:52<00:52,  3.02it/s]
 82%|████████▏ | 742/900 [1:32:53<00:48,  3.24it/s]
 83%|████████▎ | 743/900 [1:32:53<00:46,  3.41it/s]
 83%|████████▎ | 744/900 [1:32:53<00:43,  3.56it/s]
 83%|████████▎ | 745/900 [1:35:47<2:15:34, 52.48s/it]
 83%|████████▎ | 746/900 [1:35:48<1:34:29, 36.81s/it]
 83%|████████▎ | 747/900 [1:35:48<1:05:54, 25.85s/it]
 83%|████████▎ | 748/900 [1:35:48<46:01, 18.17s/it]  
 83%|████████▎ | 749/900 [1:35:48<32:11, 12.79s/it]
 83%|████████▎ | 750/900 [1:35:49<22:34,  9.03s/it]
 83%|████████▎ | 751/900 [1:35:49<15:53,  6.40s/it]
 84%|████████▎ | 752/900 [1:35:49<11:14,  4.55s/it]
 84%|████████▎ | 753/900 [1:35:50<08:23,  3.42s/it]
 84%|████████▍ | 754/900 [1:35:50<06:00,  2.47s/it]
 84%|████████▍ | 755/900 [1:35:50<04:21,  1.81s/it]
 84%|████████▍ | 756/900 [1:35:51<03:12,  1.34s/it]
 84%|████████▍ | 757/900 [1:35:51<02:24,  1.01s/it]
 84%|████████▍ | 758/900 [1:35:51<01:51,  1.27it/s]
 84%|████████▍ | 759/900 [1:35:51<01:28,  1.60it/s]
 84%|████████▍ | 760/900 [1:35:52<01:11,  1.95it/s]
 85%|████████▍ | 761/900 [1:35:52<01:22,  1.68it/s]
 85%|████████▍ | 762/900 [1:35:53<01:08,  2.03it/s]
 85%|████████▍ | 763/900 [1:35:53<00:57,  2.38it/s]
 85%|████████▍ | 764/900 [1:35:53<00:50,  2.70it/s]
 85%|████████▌ | 765/900 [1:35:53<00:45,  2.99it/s]
 85%|████████▌ | 766/900 [1:35:54<00:41,  3.22it/s]
 85%|████████▌ | 767/900 [1:35:54<00:39,  3.40it/s]
 85%|████████▌ | 768/900 [1:35:54<00:37,  3.54it/s]
 85%|████████▌ | 769/900 [1:35:55<00:56,  2.30it/s]
 86%|████████▌ | 770/900 [1:35:55<00:49,  2.64it/s]
 86%|████████▌ | 771/900 [1:35:56<00:44,  2.92it/s]
 86%|████████▌ | 772/900 [1:35:56<00:40,  3.17it/s]
 86%|████████▌ | 773/900 [1:35:56<00:37,  3.37it/s]
 86%|████████▌ | 774/900 [1:35:56<00:35,  3.53it/s]
 86%|████████▌ | 775/900 [1:35:57<00:34,  3.64it/s]
 86%|████████▌ | 776/900 [1:35:57<00:33,  3.72it/s]
 86%|████████▋ | 777/900 [1:35:58<00:53,  2.30it/s]
 86%|████████▋ | 778/900 [1:35:58<00:46,  2.63it/s]
 87%|████████▋ | 779/900 [1:35:58<00:41,  2.92it/s]
 87%|████████▋ | 780/900 [1:35:58<00:38,  3.16it/s]
 87%|████████▋ | 781/900 [1:35:59<00:35,  3.35it/s]
 87%|████████▋ | 782/900 [1:35:59<00:33,  3.50it/s]
 87%|████████▋ | 783/900 [1:35:59<00:32,  3.62it/s]
 87%|████████▋ | 784/900 [1:35:59<00:31,  3.71it/s]
 87%|████████▋ | 785/900 [1:36:00<00:49,  2.34it/s]
 87%|████████▋ | 786/900 [1:36:00<00:42,  2.66it/s]
 87%|████████▋ | 787/900 [1:36:01<00:38,  2.95it/s]
 88%|████████▊ | 788/900 [1:36:01<00:35,  3.20it/s]
 88%|████████▊ | 789/900 [1:36:01<00:32,  3.39it/s]
 88%|████████▊ | 790/900 [1:36:01<00:31,  3.54it/s]
 88%|████████▊ | 791/900 [1:36:02<00:29,  3.66it/s]
 88%|████████▊ | 792/900 [1:36:02<00:28,  3.73it/s]
 88%|████████▊ | 793/900 [1:36:03<00:43,  2.46it/s]
 88%|████████▊ | 794/900 [1:36:03<00:38,  2.77it/s]
 88%|████████▊ | 795/900 [1:36:03<00:34,  3.05it/s]
 88%|████████▊ | 796/900 [1:36:03<00:31,  3.26it/s]
 89%|████████▊ | 797/900 [1:36:04<00:29,  3.44it/s]
 89%|████████▊ | 798/900 [1:36:04<00:28,  3.57it/s]
 89%|████████▉ | 799/900 [1:36:04<00:27,  3.68it/s]
 89%|████████▉ | 800/900 [1:36:04<00:26,  3.76it/s]
 89%|████████▉ | 801/900 [1:36:05<00:41,  2.39it/s]
 89%|████████▉ | 802/900 [1:36:06<00:36,  2.70it/s]
 89%|████████▉ | 803/900 [1:36:06<00:32,  2.98it/s]
 89%|████████▉ | 804/900 [1:36:06<00:29,  3.21it/s]
 89%|████████▉ | 805/900 [1:36:06<00:27,  3.42it/s]
 90%|████████▉ | 806/900 [1:36:07<00:26,  3.56it/s]
 90%|████████▉ | 807/900 [1:36:07<00:25,  3.65it/s]
 90%|████████▉ | 808/900 [1:36:07<00:24,  3.69it/s]
 90%|████████▉ | 809/900 [1:36:08<00:36,  2.47it/s]
 90%|█████████ | 810/900 [1:36:08<00:32,  2.78it/s]
 90%|█████████ | 811/900 [1:36:08<00:29,  3.04it/s]
 90%|█████████ | 812/900 [1:36:09<00:27,  3.26it/s]
 90%|█████████ | 813/900 [1:36:09<00:25,  3.43it/s]
 90%|█████████ | 814/900 [1:36:09<00:24,  3.57it/s]
 91%|█████████ | 815/900 [1:36:09<00:23,  3.66it/s]
 91%|█████████ | 816/900 [1:36:10<00:22,  3.74it/s]
 91%|█████████ | 817/900 [1:36:10<00:36,  2.30it/s]
 91%|█████████ | 818/900 [1:36:11<00:31,  2.62it/s]
 91%|█████████ | 819/900 [1:36:11<00:27,  2.91it/s]
 91%|█████████ | 820/900 [1:36:11<00:25,  3.15it/s]
 91%|█████████ | 821/900 [1:36:11<00:23,  3.35it/s]
 91%|█████████▏| 822/900 [1:36:12<00:22,  3.50it/s]
 91%|█████████▏| 823/900 [1:36:12<00:21,  3.63it/s]
 92%|█████████▏| 824/900 [1:36:12<00:20,  3.73it/s]
 92%|█████████▏| 825/900 [1:37:54<38:21, 30.68s/it]
 92%|█████████▏| 826/900 [1:37:54<26:34, 21.55s/it]
 92%|█████████▏| 827/900 [1:37:54<18:26, 15.16s/it]
 92%|█████████▏| 828/900 [1:37:55<12:49, 10.69s/it]
 92%|█████████▏| 829/900 [1:37:55<08:56,  7.56s/it]
 92%|█████████▏| 830/900 [1:37:55<06:15,  5.37s/it]
 92%|█████████▏| 831/900 [1:37:55<04:24,  3.83s/it]
 92%|█████████▏| 832/900 [1:37:56<03:07,  2.76s/it]
 93%|█████████▎| 833/900 [1:37:56<02:24,  2.15s/it]
 93%|█████████▎| 834/900 [1:37:57<01:44,  1.58s/it]
 93%|█████████▎| 835/900 [1:37:57<01:16,  1.18s/it]
 93%|█████████▎| 836/900 [1:37:57<00:57,  1.11it/s]
 93%|█████████▎| 837/900 [1:37:57<00:44,  1.41it/s]
 93%|█████████▎| 838/900 [1:37:58<00:35,  1.74it/s]
 93%|█████████▎| 839/900 [1:37:58<00:29,  2.08it/s]
 93%|█████████▎| 840/900 [1:37:58<00:24,  2.42it/s]
 93%|█████████▎| 841/900 [1:37:59<00:30,  1.96it/s]
 94%|█████████▎| 842/900 [1:37:59<00:25,  2.31it/s]
 94%|█████████▎| 843/900 [1:37:59<00:21,  2.63it/s]
 94%|█████████▍| 844/900 [1:38:00<00:19,  2.92it/s]
 94%|█████████▍| 845/900 [1:38:00<00:17,  3.17it/s]
 94%|█████████▍| 846/900 [1:38:00<00:16,  3.36it/s]
 94%|█████████▍| 847/900 [1:38:00<00:15,  3.52it/s]
 94%|█████████▍| 848/900 [1:38:01<00:14,  3.62it/s]
 94%|█████████▍| 849/900 [1:38:01<00:20,  2.45it/s]
 94%|█████████▍| 850/900 [1:38:02<00:18,  2.76it/s]
 95%|█████████▍| 851/900 [1:38:02<00:16,  3.03it/s]
 95%|█████████▍| 852/900 [1:38:02<00:14,  3.26it/s]
 95%|█████████▍| 853/900 [1:38:02<00:13,  3.44it/s]
 95%|█████████▍| 854/900 [1:38:03<00:12,  3.56it/s]
 95%|█████████▌| 855/900 [1:38:03<00:12,  3.67it/s]
 95%|█████████▌| 856/900 [1:38:03<00:11,  3.76it/s]
 95%|█████████▌| 857/900 [1:38:04<00:18,  2.35it/s]
 95%|█████████▌| 858/900 [1:38:04<00:15,  2.68it/s]
 95%|█████████▌| 859/900 [1:38:04<00:13,  2.95it/s]
 96%|█████████▌| 860/900 [1:38:05<00:12,  3.19it/s]
 96%|█████████▌| 861/900 [1:38:05<00:11,  3.38it/s]
 96%|█████████▌| 862/900 [1:38:05<00:10,  3.53it/s]
 96%|█████████▌| 863/900 [1:38:05<00:10,  3.64it/s]
 96%|█████████▌| 864/900 [1:38:06<00:09,  3.73it/s]
 96%|█████████▌| 865/900 [1:38:06<00:14,  2.46it/s]
 96%|█████████▌| 866/900 [1:38:07<00:12,  2.78it/s]
 96%|█████████▋| 867/900 [1:38:07<00:10,  3.04it/s]
 96%|█████████▋| 868/900 [1:38:07<00:09,  3.28it/s]
 97%|█████████▋| 869/900 [1:38:07<00:08,  3.45it/s]
 97%|█████████▋| 870/900 [1:38:08<00:08,  3.58it/s]
 97%|█████████▋| 871/900 [1:38:08<00:07,  3.70it/s]
 97%|█████████▋| 872/900 [1:38:08<00:07,  3.78it/s]
 97%|█████████▋| 873/900 [1:38:09<00:10,  2.46it/s]
 97%|█████████▋| 874/900 [1:38:09<00:09,  2.78it/s]
 97%|█████████▋| 875/900 [1:38:09<00:08,  3.03it/s]
 97%|█████████▋| 876/900 [1:38:10<00:07,  3.26it/s]
 97%|█████████▋| 877/900 [1:38:10<00:06,  3.45it/s]
 98%|█████████▊| 878/900 [1:38:10<00:06,  3.59it/s]
 98%|█████████▊| 879/900 [1:38:10<00:05,  3.68it/s]
 98%|█████████▊| 880/900 [1:38:11<00:05,  3.76it/s]
 98%|█████████▊| 881/900 [1:38:11<00:07,  2.47it/s]
 98%|█████████▊| 882/900 [1:38:12<00:06,  2.78it/s]
 98%|█████████▊| 883/900 [1:38:12<00:05,  3.04it/s]
 98%|█████████▊| 884/900 [1:38:12<00:04,  3.27it/s]
 98%|█████████▊| 885/900 [1:38:12<00:04,  3.46it/s]
 98%|█████████▊| 886/900 [1:38:13<00:03,  3.58it/s]
 99%|█████████▊| 887/900 [1:38:13<00:03,  3.67it/s]
 99%|█████████▊| 888/900 [1:38:13<00:03,  3.74it/s]
 99%|█████████▉| 889/900 [1:38:14<00:04,  2.40it/s]
 99%|█████████▉| 890/900 [1:38:14<00:03,  2.72it/s]
 99%|█████████▉| 891/900 [1:38:14<00:02,  3.00it/s]
 99%|█████████▉| 892/900 [1:38:15<00:02,  3.23it/s]
 99%|█████████▉| 893/900 [1:38:15<00:02,  3.42it/s]
 99%|█████████▉| 894/900 [1:38:15<00:01,  3.56it/s]
 99%|█████████▉| 895/900 [1:38:15<00:01,  3.66it/s]
100%|█████████▉| 896/900 [1:38:16<00:01,  3.75it/s]
100%|█████████▉| 897/900 [1:38:17<00:01,  2.22it/s]
100%|█████████▉| 898/900 [1:38:17<00:00,  2.56it/s]
100%|█████████▉| 899/900 [1:38:17<00:00,  2.86it/s]
100%|█████████▉| 899/900 [1:38:17<00:06,  6.56s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json.
+FoodPacking1BoxesTask_2 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.0514986007075, 'joint_sparc_mean': -10.438704425093475, 'ee_isj': 161793.54903628354, 'joint_isj': 2276379.3163263565, 'ee_path_length': 12.613887983980616, 'joint_rmse_mean': 1.4690586098867477, 'ee_speed_max': 7.291408538818359, 'ee_speed_mean': 0.2098315805196762}, events: {'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_FULLY_CLOSED': 5}, instruction_type: default, timing: {'policy_inference_s': 5692.011, 'policy_inference_avg_ms': 6324.5, 'env_step_s': 198.717, 'env_step_avg_ms': 220.8, 'video_write_s': 6.613, 'video_write_avg_ms': 7.3, 'wall_total_s': 5897.34, 'it_per_sec': 0.15}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: f6df01fa84a84d6997c566925324ff4f-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T15:13:37Z [28,345,108ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.200792 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T15:13:45Z [28,352,879ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T15:13:45Z [28,352,879ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T15:13:45Z [28,352,889ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T15:13:45Z [28,352,889ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T15:13:45Z [28,352,897ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T15:13:45Z [28,352,904ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T15:13:47Z [28,355,287ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((918))' not available in the MDL representation.
+2026-11-02T15:13:47Z [28,355,288ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((918))' not available in the MDL representation.
+2026-11-02T15:13:48Z [28,355,314ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-11-02T15:13:48Z [28,355,315ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-11-02T15:13:48Z [28,355,637ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1004))' not available in the MDL representation.
+2026-11-02T15:13:48Z [28,355,637ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1004))' not available in the MDL representation.
+2026-11-02T15:13:49Z [28,356,324ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((918))' not available in the MDL representation.
+2026-11-02T15:13:49Z [28,356,324ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((918))' not available in the MDL representation.
+2026-11-02T15:13:49Z [28,356,325ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-11-02T15:13:49Z [28,356,325ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-11-02T15:13:49Z [28,356,329ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1004))' not available in the MDL representation.
+2026-11-02T15:13:49Z [28,356,329ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1004))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 11.123831 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RubiksCubeThenBananaTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the cube then the banana in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RubiksCubeThenBananaTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:46<11:29:50, 46.04s/it]
  0%|          | 2/900 [00:46<4:45:51, 19.10s/it] 
  0%|          | 3/900 [00:46<2:36:45, 10.49s/it]
  0%|          | 4/900 [00:46<1:36:08,  6.44s/it]
  1%|          | 5/900 [00:46<1:02:40,  4.20s/it]
  1%|          | 6/900 [00:47<42:29,  2.85s/it]  
  1%|          | 7/900 [00:47<29:42,  2.00s/it]
  1%|          | 8/900 [00:47<21:20,  1.44s/it]
  1%|          | 9/900 [01:02<1:22:34,  5.56s/it]
  1%|          | 10/900 [01:02<58:04,  3.91s/it] 
  1%|          | 11/900 [01:02<41:18,  2.79s/it]
  1%|▏         | 12/900 [01:03<29:45,  2.01s/it]
  1%|▏         | 13/900 [01:03<21:45,  1.47s/it]
  2%|▏         | 14/900 [01:03<16:13,  1.10s/it]
  2%|▏         | 15/900 [01:03<12:23,  1.19it/s]
  2%|▏         | 16/900 [01:03<09:41,  1.52it/s]
  2%|▏         | 17/900 [01:22<1:28:17,  6.00s/it]
  2%|▏         | 18/900 [01:22<1:02:43,  4.27s/it]
  2%|▏         | 19/900 [01:22<44:51,  3.06s/it]  
  2%|▏         | 20/900 [01:23<32:22,  2.21s/it]
  2%|▏         | 21/900 [01:23<23:41,  1.62s/it]
  2%|▏         | 22/900 [01:23<17:36,  1.20s/it]
  3%|▎         | 23/900 [01:23<13:21,  1.09it/s]
  3%|▎         | 24/900 [01:24<10:21,  1.41it/s]
  3%|▎         | 25/900 [01:40<1:17:57,  5.35s/it]
  3%|▎         | 26/900 [01:40<55:31,  3.81s/it]  
  3%|▎         | 27/900 [01:40<39:49,  2.74s/it]
  3%|▎         | 28/900 [01:40<28:51,  1.99s/it]
  3%|▎         | 29/900 [01:41<21:12,  1.46s/it]
  3%|▎         | 30/900 [01:41<15:50,  1.09s/it]
  3%|▎         | 31/900 [01:41<12:04,  1.20it/s]
  4%|▎         | 32/900 [01:41<09:26,  1.53it/s]
  4%|▎         | 33/900 [01:55<1:05:37,  4.54s/it]
  4%|▍         | 34/900 [01:55<46:52,  3.25s/it]  
  4%|▍         | 35/900 [01:55<33:47,  2.34s/it]
  4%|▍         | 36/900 [01:56<24:37,  1.71s/it]
  4%|▍         | 37/900 [01:56<18:13,  1.27s/it]
  4%|▍         | 38/900 [01:56<13:43,  1.05it/s]
  4%|▍         | 39/900 [01:56<10:35,  1.36it/s]
  4%|▍         | 40/900 [01:57<08:23,  1.71it/s]
  5%|▍         | 41/900 [02:13<1:18:24,  5.48s/it]
  5%|▍         | 42/900 [02:14<55:49,  3.90s/it]  
  5%|▍         | 43/900 [02:14<40:00,  2.80s/it]
  5%|▍         | 44/900 [02:14<28:57,  2.03s/it]
  5%|▌         | 45/900 [02:14<21:13,  1.49s/it]
  5%|▌         | 46/900 [02:15<15:49,  1.11s/it]
  5%|▌         | 47/900 [02:15<12:02,  1.18it/s]
  5%|▌         | 48/900 [02:15<09:23,  1.51it/s]
  5%|▌         | 49/900 [02:54<2:53:01, 12.20s/it]
  6%|▌         | 50/900 [02:54<2:02:06,  8.62s/it]
  6%|▌         | 51/900 [02:55<1:26:27,  6.11s/it]
  6%|▌         | 52/900 [02:55<1:01:33,  4.36s/it]
  6%|▌         | 53/900 [02:55<44:07,  3.13s/it]  
  6%|▌         | 54/900 [02:55<31:58,  2.27s/it]
  6%|▌         | 55/900 [02:56<23:29,  1.67s/it]
  6%|▌         | 56/900 [02:56<17:33,  1.25s/it]
  6%|▋         | 57/900 [03:24<2:10:43,  9.30s/it]
  6%|▋         | 58/900 [03:24<1:32:31,  6.59s/it]
  7%|▋         | 59/900 [03:25<1:05:48,  4.69s/it]
  7%|▋         | 60/900 [03:25<47:06,  3.36s/it]  
  7%|▋         | 61/900 [03:25<34:02,  2.43s/it]
  7%|▋         | 62/900 [03:25<24:53,  1.78s/it]
  7%|▋         | 63/900 [03:26<18:30,  1.33s/it]
  7%|▋         | 64/900 [03:26<14:03,  1.01s/it]
  7%|▋         | 65/900 [04:08<3:04:55, 13.29s/it]
  7%|▋         | 66/900 [04:08<2:10:25,  9.38s/it]
  7%|▋         | 67/900 [04:08<1:32:19,  6.65s/it]
  8%|▊         | 68/900 [04:09<1:05:36,  4.73s/it]
  8%|▊         | 69/900 [04:09<46:57,  3.39s/it]  
  8%|▊         | 70/900 [04:09<33:55,  2.45s/it]
  8%|▊         | 71/900 [04:09<24:48,  1.80s/it]
  8%|▊         | 72/900 [04:10<18:25,  1.33s/it]
  8%|▊         | 73/900 [05:30<5:43:55, 24.95s/it]
  8%|▊         | 74/900 [05:30<4:01:31, 17.54s/it]
  8%|▊         | 75/900 [05:30<2:49:57, 12.36s/it]
  8%|▊         | 76/900 [05:31<1:59:53,  8.73s/it]
  9%|▊         | 77/900 [05:31<1:24:53,  6.19s/it]
  9%|▊         | 78/900 [05:31<1:00:25,  4.41s/it]
  9%|▉         | 79/900 [05:31<43:19,  3.17s/it]  
  9%|▉         | 80/900 [05:32<31:22,  2.30s/it]
  9%|▉         | 81/900 [06:00<2:17:20, 10.06s/it]
  9%|▉         | 82/900 [06:00<1:37:06,  7.12s/it]
  9%|▉         | 83/900 [06:00<1:09:00,  5.07s/it]
  9%|▉         | 84/900 [06:01<49:20,  3.63s/it]  
  9%|▉         | 85/900 [06:01<35:33,  2.62s/it]
 10%|▉         | 86/900 [06:01<25:56,  1.91s/it]
 10%|▉         | 87/900 [06:01<19:12,  1.42s/it]
 10%|▉         | 88/900 [06:02<14:30,  1.07s/it]
 10%|▉         | 89/900 [06:19<1:20:44,  5.97s/it]
 10%|█         | 90/900 [06:19<57:31,  4.26s/it]  
 10%|█         | 91/900 [06:20<41:17,  3.06s/it]
 10%|█         | 92/900 [06:20<29:53,  2.22s/it]
 10%|█         | 93/900 [06:20<21:58,  1.63s/it]
 10%|█         | 94/900 [06:20<16:27,  1.22s/it]
 11%|█         | 95/900 [06:21<12:35,  1.07it/s]
 11%|█         | 96/900 [06:21<09:52,  1.36it/s]
 11%|█         | 97/900 [06:55<2:22:32, 10.65s/it]
 11%|█         | 98/900 [06:55<1:40:35,  7.53s/it]
 11%|█         | 99/900 [06:55<1:11:16,  5.34s/it]
 11%|█         | 100/900 [06:55<50:45,  3.81s/it] 
 11%|█         | 101/900 [06:56<36:26,  2.74s/it]
 11%|█▏        | 102/900 [06:56<26:24,  1.99s/it]
 11%|█▏        | 103/900 [06:56<19:23,  1.46s/it]
 12%|█▏        | 104/900 [06:56<14:28,  1.09s/it]
 12%|█▏        | 105/900 [07:19<1:41:29,  7.66s/it]
 12%|█▏        | 106/900 [07:20<1:11:52,  5.43s/it]
 12%|█▏        | 107/900 [07:20<51:10,  3.87s/it]  
 12%|█▏        | 108/900 [07:20<36:42,  2.78s/it]
 12%|█▏        | 109/900 [07:20<26:33,  2.02s/it]
 12%|█▏        | 110/900 [07:21<19:29,  1.48s/it]
 12%|█▏        | 111/900 [07:21<14:31,  1.11s/it]
 12%|█▏        | 112/900 [07:21<11:04,  1.19it/s]
 13%|█▎        | 113/900 [07:37<1:11:04,  5.42s/it]
 13%|█▎        | 114/900 [07:37<50:36,  3.86s/it]  
 13%|█▎        | 115/900 [07:38<36:18,  2.77s/it]
 13%|█▎        | 116/900 [07:38<26:17,  2.01s/it]
 13%|█▎        | 117/900 [07:38<19:17,  1.48s/it]
 13%|█▎        | 118/900 [07:38<14:23,  1.10s/it]
 13%|█▎        | 119/900 [07:38<10:57,  1.19it/s]
 13%|█▎        | 120/900 [07:39<08:34,  1.52it/s]
 13%|█▎        | 121/900 [08:15<2:28:35, 11.45s/it]
 14%|█▎        | 122/900 [08:16<1:44:47,  8.08s/it]
 14%|█▎        | 123/900 [08:16<1:14:08,  5.72s/it]
 14%|█▍        | 124/900 [08:16<52:44,  4.08s/it]  
 14%|█▍        | 125/900 [08:16<37:46,  2.92s/it]
 14%|█▍        | 126/900 [08:16<27:18,  2.12s/it]
 14%|█▍        | 127/900 [08:17<20:01,  1.55s/it]
 14%|█▍        | 128/900 [08:17<14:54,  1.16s/it]
 14%|█▍        | 129/900 [08:34<1:15:58,  5.91s/it]
 14%|█▍        | 130/900 [08:34<54:01,  4.21s/it]  
 15%|█▍        | 131/900 [08:34<38:41,  3.02s/it]
 15%|█▍        | 132/900 [08:35<27:57,  2.18s/it]
 15%|█▍        | 133/900 [08:35<20:26,  1.60s/it]
 15%|█▍        | 134/900 [08:35<15:11,  1.19s/it]
 15%|█▌        | 135/900 [08:35<11:31,  1.11it/s]
 15%|█▌        | 136/900 [08:36<08:57,  1.42it/s]
 15%|█▌        | 137/900 [09:26<3:19:14, 15.67s/it]
 15%|█▌        | 138/900 [09:26<2:20:11, 11.04s/it]
 15%|█▌        | 139/900 [09:27<1:38:53,  7.80s/it]
 16%|█▌        | 140/900 [09:27<1:10:01,  5.53s/it]
 16%|█▌        | 141/900 [09:27<49:50,  3.94s/it]  
 16%|█▌        | 142/900 [09:27<35:43,  2.83s/it]
 16%|█▌        | 143/900 [09:28<25:52,  2.05s/it]
 16%|█▌        | 144/900 [09:28<19:01,  1.51s/it]
 16%|█▌        | 145/900 [10:07<2:40:54, 12.79s/it]
 16%|█▌        | 146/900 [10:07<1:53:26,  9.03s/it]
 16%|█▋        | 147/900 [10:07<1:20:17,  6.40s/it]
 16%|█▋        | 148/900 [10:08<57:05,  4.56s/it]  
 17%|█▋        | 149/900 [10:08<40:51,  3.26s/it]
 17%|█▋        | 150/900 [10:08<29:30,  2.36s/it]
 17%|█▋        | 151/900 [10:08<21:32,  1.73s/it]
 17%|█▋        | 152/900 [10:09<15:59,  1.28s/it]
 17%|█▋        | 153/900 [10:43<2:19:10, 11.18s/it]
 17%|█▋        | 154/900 [10:43<1:38:15,  7.90s/it]
 17%|█▋        | 155/900 [10:44<1:09:39,  5.61s/it]
 17%|█▋        | 156/900 [10:44<49:38,  4.00s/it]  
 17%|█▋        | 157/900 [10:44<35:40,  2.88s/it]
 18%|█▊        | 158/900 [10:44<25:53,  2.09s/it]
 18%|█▊        | 159/900 [10:45<19:01,  1.54s/it]
 18%|█▊        | 160/900 [10:45<14:13,  1.15s/it]
 18%|█▊        | 161/900 [11:48<4:04:23, 19.84s/it]
 18%|█▊        | 162/900 [11:48<2:51:46, 13.97s/it]
 18%|█▊        | 163/900 [11:49<2:00:59,  9.85s/it]
 18%|█▊        | 164/900 [11:49<1:25:29,  6.97s/it]
 18%|█▊        | 165/900 [11:49<1:00:41,  4.95s/it]
 18%|█▊        | 166/900 [11:49<43:19,  3.54s/it]  
 19%|█▊        | 167/900 [11:50<31:12,  2.56s/it]
 19%|█▊        | 168/900 [11:50<22:44,  1.86s/it]
 19%|█▉        | 169/900 [12:24<2:20:07, 11.50s/it]
 19%|█▉        | 170/900 [12:24<1:38:54,  8.13s/it]
 19%|█▉        | 171/900 [12:25<1:10:05,  5.77s/it]
 19%|█▉        | 172/900 [12:25<49:56,  4.12s/it]  
 19%|█▉        | 173/900 [12:25<35:51,  2.96s/it]
 19%|█▉        | 174/900 [12:25<26:00,  2.15s/it]
 19%|█▉        | 175/900 [12:26<19:07,  1.58s/it]
 20%|█▉        | 176/900 [12:26<14:19,  1.19s/it]
 20%|█▉        | 177/900 [12:54<1:50:11,  9.14s/it]
 20%|█▉        | 178/900 [12:54<1:17:58,  6.48s/it]
 20%|█▉        | 179/900 [12:54<55:27,  4.61s/it]  
 20%|██        | 180/900 [12:54<39:43,  3.31s/it]
 20%|██        | 181/900 [12:55<28:41,  2.39s/it]
 20%|██        | 182/900 [12:55<20:59,  1.75s/it]
 20%|██        | 183/900 [12:55<15:37,  1.31s/it]
 20%|██        | 184/900 [12:55<11:51,  1.01it/s]
 21%|██        | 185/900 [13:33<2:22:02, 11.92s/it]
 21%|██        | 186/900 [13:33<1:40:14,  8.42s/it]
 21%|██        | 187/900 [13:33<1:11:00,  5.98s/it]
 21%|██        | 188/900 [13:34<50:34,  4.26s/it]  
 21%|██        | 189/900 [13:34<36:18,  3.06s/it]
 21%|██        | 190/900 [13:34<26:18,  2.22s/it]
 21%|██        | 191/900 [13:34<19:18,  1.63s/it]
 21%|██▏       | 192/900 [13:35<14:25,  1.22s/it]
 21%|██▏       | 192/900 [13:56<51:22,  4.35s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json.
+RubiksCubeThenBananaTask_0 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 193, duration: 12.866666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.621919685195339, 'joint_sparc_mean': -7.456276241072145, 'ee_isj': 808.088432756018, 'joint_isj': 12162.414393427152, 'ee_path_length': 1.4398223485870323, 'joint_rmse_mean': 1.0779443434549487, 'ee_speed_max': 0.4244805574417114, 'ee_speed_mean': 0.10471758991479874}, events: {'TARGET_OBJECT_DROPPED': 7}, instruction_type: default, timing: {'policy_inference_s': 792.665, 'policy_inference_avg_ms': 4107.1, 'env_step_s': 41.013, 'env_step_avg_ms': 212.5, 'video_write_s': 2.243, 'video_write_avg_ms': 11.6, 'wall_total_s': 835.921, 'it_per_sec': 0.23}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 416ac35627c04962b6aaf6fa48228170-0
+[RoboLab] Running RubiksCubeThenBananaTask_1: 'Put the cube then the banana in the bowl' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:57<14:17:01, 57.20s/it]
  0%|          | 2/900 [00:57<5:54:39, 23.70s/it] 
  0%|          | 3/900 [00:57<3:14:06, 12.98s/it]
  0%|          | 4/900 [00:57<1:58:43,  7.95s/it]
  1%|          | 5/900 [00:58<1:17:06,  5.17s/it]
  1%|          | 6/900 [00:58<52:02,  3.49s/it]  
  1%|          | 7/900 [00:58<36:08,  2.43s/it]
  1%|          | 8/900 [00:58<25:42,  1.73s/it]
  1%|          | 9/900 [01:28<2:34:15, 10.39s/it]
  1%|          | 10/900 [01:28<1:47:33,  7.25s/it]
  1%|          | 11/900 [01:28<1:15:36,  5.10s/it]
  1%|▏         | 12/900 [01:28<53:35,  3.62s/it]  
  1%|▏         | 13/900 [01:29<38:22,  2.60s/it]
  2%|▏         | 14/900 [01:29<27:47,  1.88s/it]
  2%|▏         | 15/900 [01:29<20:25,  1.38s/it]
  2%|▏         | 16/900 [01:29<15:16,  1.04s/it]
  2%|▏         | 17/900 [01:45<1:20:35,  5.48s/it]
  2%|▏         | 18/900 [01:45<57:19,  3.90s/it]  
  2%|▏         | 19/900 [01:46<41:04,  2.80s/it]
  2%|▏         | 20/900 [01:46<29:45,  2.03s/it]
  2%|▏         | 21/900 [01:46<21:49,  1.49s/it]
  2%|▏         | 22/900 [01:46<16:17,  1.11s/it]
  3%|▎         | 23/900 [01:47<12:24,  1.18it/s]
  3%|▎         | 24/900 [01:47<09:42,  1.50it/s]
  3%|▎         | 25/900 [01:58<55:58,  3.84s/it]
  3%|▎         | 26/900 [01:58<40:09,  2.76s/it]
  3%|▎         | 27/900 [01:59<29:05,  2.00s/it]
  3%|▎         | 28/900 [01:59<21:20,  1.47s/it]
  3%|▎         | 29/900 [01:59<15:55,  1.10s/it]
  3%|▎         | 30/900 [01:59<12:09,  1.19it/s]
  3%|▎         | 31/900 [01:59<09:31,  1.52it/s]
  4%|▎         | 32/900 [02:00<07:41,  1.88it/s]
  4%|▎         | 33/900 [02:27<2:02:22,  8.47s/it]
  4%|▍         | 34/900 [02:27<1:26:41,  6.01s/it]
  4%|▍         | 35/900 [02:27<1:01:42,  4.28s/it]
  4%|▍         | 36/900 [02:27<44:12,  3.07s/it]  
  4%|▍         | 37/900 [02:28<32:00,  2.23s/it]
  4%|▍         | 38/900 [02:28<23:27,  1.63s/it]
  4%|▍         | 39/900 [02:28<17:22,  1.21s/it]
  4%|▍         | 40/900 [02:28<13:07,  1.09it/s]
  5%|▍         | 41/900 [02:47<1:30:43,  6.34s/it]
  5%|▍         | 42/900 [02:48<1:04:32,  4.51s/it]
  5%|▍         | 43/900 [02:48<46:12,  3.24s/it]  
  5%|▍         | 44/900 [02:48<33:25,  2.34s/it]
  5%|▌         | 45/900 [02:48<24:28,  1.72s/it]
  5%|▌         | 46/900 [02:49<18:11,  1.28s/it]
  5%|▌         | 47/900 [02:49<13:49,  1.03it/s]
  5%|▌         | 48/900 [02:49<10:44,  1.32it/s]
  5%|▌         | 49/900 [02:59<49:35,  3.50s/it]
  6%|▌         | 50/900 [02:59<35:46,  2.52s/it]
  6%|▌         | 51/900 [03:00<26:06,  1.85s/it]
  6%|▌         | 52/900 [03:00<19:21,  1.37s/it]
  6%|▌         | 53/900 [03:00<14:36,  1.03s/it]
  6%|▌         | 54/900 [03:00<11:17,  1.25it/s]
  6%|▌         | 55/900 [03:01<08:57,  1.57it/s]
  6%|▌         | 56/900 [03:01<07:19,  1.92it/s]
  6%|▋         | 57/900 [04:08<4:48:43, 20.55s/it]
  6%|▋         | 58/900 [04:08<3:22:58, 14.46s/it]
  7%|▋         | 59/900 [04:09<2:23:01, 10.20s/it]
  7%|▋         | 60/900 [04:09<1:41:06,  7.22s/it]
  7%|▋         | 61/900 [04:09<1:11:49,  5.14s/it]
  7%|▋         | 62/900 [04:09<51:18,  3.67s/it]  
  7%|▋         | 63/900 [04:10<36:56,  2.65s/it]
  7%|▋         | 64/900 [04:10<26:54,  1.93s/it]
  7%|▋         | 65/900 [04:26<1:26:54,  6.25s/it]
  7%|▋         | 66/900 [04:27<1:01:44,  4.44s/it]
  7%|▋         | 67/900 [04:27<44:08,  3.18s/it]  
  8%|▊         | 68/900 [04:27<31:49,  2.29s/it]
  8%|▊         | 69/900 [04:27<23:12,  1.68s/it]
  8%|▊         | 70/900 [04:27<17:11,  1.24s/it]
  8%|▊         | 71/900 [04:28<12:58,  1.06it/s]
  8%|▊         | 72/900 [04:28<10:02,  1.37it/s]
  8%|▊         | 73/900 [04:48<1:31:49,  6.66s/it]
  8%|▊         | 74/900 [04:49<1:05:09,  4.73s/it]
  8%|▊         | 75/900 [04:49<46:30,  3.38s/it]  
  8%|▊         | 76/900 [04:49<33:28,  2.44s/it]
  9%|▊         | 77/900 [04:49<24:21,  1.78s/it]
  9%|▊         | 78/900 [04:50<17:59,  1.31s/it]
  9%|▉         | 79/900 [04:50<13:32,  1.01it/s]
  9%|▉         | 80/900 [04:50<10:25,  1.31it/s]
  9%|▉         | 81/900 [05:18<2:02:33,  8.98s/it]
  9%|▉         | 82/900 [05:18<1:26:37,  6.35s/it]
  9%|▉         | 83/900 [05:19<1:01:29,  4.52s/it]
  9%|▉         | 84/900 [05:19<43:56,  3.23s/it]  
  9%|▉         | 85/900 [05:19<31:40,  2.33s/it]
 10%|▉         | 86/900 [05:19<23:06,  1.70s/it]
 10%|▉         | 87/900 [05:20<17:06,  1.26s/it]
 10%|▉         | 88/900 [05:20<12:54,  1.05it/s]
 10%|▉         | 89/900 [05:40<1:30:46,  6.72s/it]
 10%|█         | 90/900 [05:40<1:04:24,  4.77s/it]
 10%|█         | 91/900 [05:40<45:58,  3.41s/it]  
 10%|█         | 92/900 [05:41<33:05,  2.46s/it]
 10%|█         | 93/900 [05:41<24:04,  1.79s/it]
 10%|█         | 94/900 [05:41<17:46,  1.32s/it]
 11%|█         | 95/900 [05:41<13:22,  1.00it/s]
 11%|█         | 96/900 [05:42<10:17,  1.30it/s]
 11%|█         | 97/900 [05:58<1:12:29,  5.42s/it]
 11%|█         | 98/900 [05:58<51:37,  3.86s/it]  
 11%|█         | 99/900 [05:58<37:01,  2.77s/it]
 11%|█         | 100/900 [05:59<26:48,  2.01s/it]
 11%|█         | 101/900 [05:59<19:41,  1.48s/it]
 11%|█▏        | 102/900 [05:59<14:41,  1.11s/it]
 11%|█▏        | 103/900 [05:59<11:12,  1.19it/s]
 12%|█▏        | 104/900 [06:00<08:48,  1.51it/s]
 12%|█▏        | 105/900 [06:23<1:40:24,  7.58s/it]
 12%|█▏        | 106/900 [06:24<1:11:07,  5.38s/it]
 12%|█▏        | 107/900 [06:24<50:42,  3.84s/it]  
 12%|█▏        | 108/900 [06:24<36:30,  2.77s/it]
 12%|█▏        | 109/900 [06:24<26:33,  2.02s/it]
 12%|█▏        | 110/900 [06:25<19:37,  1.49s/it]
 12%|█▏        | 111/900 [06:25<14:43,  1.12s/it]
 12%|█▏        | 112/900 [06:25<11:18,  1.16it/s]
 13%|█▎        | 113/900 [06:41<1:10:50,  5.40s/it]
 13%|█▎        | 114/900 [06:41<50:32,  3.86s/it]  
 13%|█▎        | 115/900 [06:42<36:23,  2.78s/it]
 13%|█▎        | 116/900 [06:42<26:27,  2.02s/it]
 13%|█▎        | 117/900 [06:42<19:29,  1.49s/it]
 13%|█▎        | 118/900 [06:42<14:37,  1.12s/it]
 13%|█▎        | 119/900 [06:43<11:14,  1.16it/s]
 13%|█▎        | 120/900 [06:43<08:52,  1.46it/s]
 13%|█▎        | 121/900 [07:03<1:23:50,  6.46s/it]
 14%|█▎        | 122/900 [07:03<59:37,  4.60s/it]  
 14%|█▎        | 123/900 [07:03<42:40,  3.30s/it]
 14%|█▍        | 124/900 [07:04<30:49,  2.38s/it]
 14%|█▍        | 125/900 [07:04<22:32,  1.75s/it]
 14%|█▍        | 126/900 [07:04<16:44,  1.30s/it]
 14%|█▍        | 127/900 [07:04<12:41,  1.02it/s]
 14%|█▍        | 128/900 [07:05<09:51,  1.31it/s]
 14%|█▍        | 129/900 [07:23<1:17:19,  6.02s/it]
 14%|█▍        | 130/900 [07:23<55:03,  4.29s/it]  
 15%|█▍        | 131/900 [07:23<39:27,  3.08s/it]
 15%|█▍        | 132/900 [07:24<28:33,  2.23s/it]
 15%|█▍        | 133/900 [07:24<20:56,  1.64s/it]
 15%|█▍        | 134/900 [07:24<15:36,  1.22s/it]
 15%|█▌        | 135/900 [07:24<11:54,  1.07it/s]
 15%|█▌        | 136/900 [07:25<09:18,  1.37it/s]
 15%|█▌        | 137/900 [07:45<1:22:52,  6.52s/it]
 15%|█▌        | 138/900 [07:45<58:49,  4.63s/it]  
 15%|█▌        | 139/900 [07:45<42:01,  3.31s/it]
 16%|█▌        | 140/900 [07:45<30:16,  2.39s/it]
 16%|█▌        | 141/900 [07:46<22:05,  1.75s/it]
 16%|█▌        | 142/900 [07:46<16:19,  1.29s/it]
 16%|█▌        | 143/900 [07:46<12:18,  1.03it/s]
 16%|█▌        | 144/900 [07:46<09:30,  1.33it/s]
 16%|█▌        | 145/900 [08:07<1:24:38,  6.73s/it]
 16%|█▌        | 146/900 [08:07<1:00:03,  4.78s/it]
 16%|█▋        | 147/900 [08:07<42:51,  3.41s/it]  
 16%|█▋        | 148/900 [08:08<30:49,  2.46s/it]
 17%|█▋        | 149/900 [08:08<22:25,  1.79s/it]
 17%|█▋        | 150/900 [08:08<16:33,  1.32s/it]
 17%|█▋        | 151/900 [08:08<12:27,  1.00it/s]
 17%|█▋        | 152/900 [08:09<09:35,  1.30it/s]
 17%|█▋        | 153/900 [08:30<1:24:53,  6.82s/it]
 17%|█▋        | 154/900 [08:30<1:00:12,  4.84s/it]
 17%|█▋        | 155/900 [08:30<42:57,  3.46s/it]  
 17%|█▋        | 156/900 [08:30<30:54,  2.49s/it]
 17%|█▋        | 157/900 [08:31<22:27,  1.81s/it]
 18%|█▊        | 158/900 [08:31<16:33,  1.34s/it]
 18%|█▊        | 159/900 [08:31<12:25,  1.01s/it]
 18%|█▊        | 160/900 [08:31<09:32,  1.29it/s]
 18%|█▊        | 161/900 [09:48<4:50:42, 23.60s/it]
 18%|█▊        | 162/900 [09:48<3:24:04, 16.59s/it]
 18%|█▊        | 163/900 [09:49<2:23:29, 11.68s/it]
 18%|█▊        | 164/900 [09:49<1:41:09,  8.25s/it]
 18%|█▊        | 165/900 [09:49<1:11:33,  5.84s/it]
 18%|█▊        | 166/900 [09:49<50:51,  4.16s/it]  
 19%|█▊        | 167/900 [09:49<36:24,  2.98s/it]
 19%|█▊        | 168/900 [09:50<26:17,  2.15s/it]
 19%|█▉        | 169/900 [10:25<2:27:25, 12.10s/it]
 19%|█▉        | 170/900 [10:25<1:43:53,  8.54s/it]
 19%|█▉        | 171/900 [10:25<1:13:28,  6.05s/it]
 19%|█▉        | 172/900 [10:26<52:12,  4.30s/it]  
 19%|█▉        | 173/900 [10:26<37:20,  3.08s/it]
 19%|█▉        | 174/900 [10:26<26:57,  2.23s/it]
 19%|█▉        | 175/900 [10:26<19:41,  1.63s/it]
 20%|█▉        | 176/900 [10:27<14:37,  1.21s/it]
 20%|█▉        | 177/900 [10:44<1:12:00,  5.98s/it]
 20%|█▉        | 178/900 [10:44<51:11,  4.25s/it]  
 20%|█▉        | 179/900 [10:44<36:36,  3.05s/it]
 20%|██        | 180/900 [10:44<26:25,  2.20s/it]
 20%|██        | 181/900 [10:45<19:18,  1.61s/it]
 20%|██        | 182/900 [10:45<14:19,  1.20s/it]
 20%|██        | 183/900 [10:45<10:50,  1.10it/s]
 20%|██        | 184/900 [10:45<08:24,  1.42it/s]
 21%|██        | 185/900 [11:19<2:07:39, 10.71s/it]
 21%|██        | 186/900 [11:20<1:30:03,  7.57s/it]
 21%|██        | 187/900 [11:20<1:03:49,  5.37s/it]
 21%|██        | 188/900 [11:20<45:27,  3.83s/it]  
 21%|██        | 189/900 [11:20<32:36,  2.75s/it]
 21%|██        | 190/900 [11:21<23:36,  2.00s/it]
 21%|██        | 191/900 [11:21<17:19,  1.47s/it]
 21%|██▏       | 192/900 [11:21<12:55,  1.10s/it]
 21%|██▏       | 193/900 [12:01<2:28:44, 12.62s/it]
 22%|██▏       | 194/900 [12:01<1:44:47,  8.91s/it]
 22%|██▏       | 195/900 [12:01<1:14:04,  6.30s/it]
 22%|██▏       | 196/900 [12:01<52:35,  4.48s/it]  
 22%|██▏       | 197/900 [12:01<37:34,  3.21s/it]
 22%|██▏       | 198/900 [12:02<27:05,  2.32s/it]
 22%|██▏       | 199/900 [12:02<19:50,  1.70s/it]
 22%|██▏       | 200/900 [12:02<14:45,  1.27s/it]
 22%|██▏       | 201/900 [13:03<3:43:12, 19.16s/it]
 22%|██▏       | 202/900 [13:03<2:36:55, 13.49s/it]
 23%|██▎       | 203/900 [13:04<1:50:33,  9.52s/it]
 23%|██▎       | 204/900 [13:04<1:18:08,  6.74s/it]
 23%|██▎       | 205/900 [13:04<55:29,  4.79s/it]  
 23%|██▎       | 206/900 [13:04<39:39,  3.43s/it]
 23%|██▎       | 207/900 [13:05<28:36,  2.48s/it]
 23%|██▎       | 208/900 [13:05<20:52,  1.81s/it]
 23%|██▎       | 209/900 [14:08<3:51:52, 20.13s/it]
 23%|██▎       | 210/900 [14:08<2:42:56, 14.17s/it]
 23%|██▎       | 211/900 [14:08<1:54:44,  9.99s/it]
 24%|██▎       | 212/900 [14:09<1:21:05,  7.07s/it]
 24%|██▎       | 213/900 [14:09<57:34,  5.03s/it]  
 24%|██▍       | 214/900 [14:09<41:08,  3.60s/it]
 24%|██▍       | 215/900 [14:09<29:38,  2.60s/it]
 24%|██▍       | 216/900 [14:10<21:36,  1.90s/it]
 24%|██▍       | 217/900 [14:45<2:17:39, 12.09s/it]
 24%|██▍       | 218/900 [14:46<1:37:07,  8.54s/it]
 24%|██▍       | 219/900 [14:46<1:08:48,  6.06s/it]
 24%|██▍       | 220/900 [14:46<48:59,  4.32s/it]  
 25%|██▍       | 221/900 [14:47<35:06,  3.10s/it]
 25%|██▍       | 222/900 [14:47<25:26,  2.25s/it]
 25%|██▍       | 223/900 [14:47<18:40,  1.66s/it]
 25%|██▍       | 224/900 [14:47<13:56,  1.24s/it]
 25%|██▌       | 225/900 [16:07<4:37:49, 24.70s/it]
 25%|██▌       | 226/900 [16:07<3:15:04, 17.37s/it]
 25%|██▌       | 227/900 [16:07<2:17:13, 12.23s/it]
 25%|██▌       | 228/900 [16:08<1:36:48,  8.64s/it]
 25%|██▌       | 229/900 [16:08<1:08:34,  6.13s/it]
 26%|██▌       | 230/900 [16:08<48:49,  4.37s/it]  
 26%|██▌       | 231/900 [16:08<34:59,  3.14s/it]
 26%|██▌       | 232/900 [16:09<25:20,  2.28s/it]
 26%|██▌       | 233/900 [16:29<1:27:05,  7.83s/it]
 26%|██▌       | 234/900 [16:30<1:01:45,  5.56s/it]
 26%|██▌       | 235/900 [16:30<44:03,  3.98s/it]  
 26%|██▌       | 236/900 [16:30<31:39,  2.86s/it]
 26%|██▋       | 237/900 [16:30<23:00,  2.08s/it]
 26%|██▋       | 238/900 [16:31<16:56,  1.53s/it]
 27%|██▋       | 239/900 [16:31<12:41,  1.15s/it]
 27%|██▋       | 240/900 [16:31<09:43,  1.13it/s]
 27%|██▋       | 241/900 [17:14<2:26:21, 13.33s/it]
 27%|██▋       | 242/900 [17:14<1:43:10,  9.41s/it]
 27%|██▋       | 243/900 [17:14<1:12:59,  6.67s/it]
 27%|██▋       | 244/900 [17:14<51:51,  4.74s/it]  
 27%|██▋       | 245/900 [17:15<37:06,  3.40s/it]
 27%|██▋       | 246/900 [17:15<26:46,  2.46s/it]
 27%|██▋       | 247/900 [17:15<19:34,  1.80s/it]
 28%|██▊       | 248/900 [17:15<14:32,  1.34s/it]
 28%|██▊       | 249/900 [18:05<2:51:19, 15.79s/it]
 28%|██▊       | 250/900 [18:06<2:03:14, 11.38s/it]
 28%|██▊       | 251/900 [18:06<1:27:01,  8.04s/it]
 28%|██▊       | 252/900 [18:07<1:01:39,  5.71s/it]
 28%|██▊       | 253/900 [18:07<43:56,  4.07s/it]  
 28%|██▊       | 254/900 [18:07<31:32,  2.93s/it]
 28%|██▊       | 255/900 [18:07<22:52,  2.13s/it]
 28%|██▊       | 256/900 [18:08<16:48,  1.57s/it]
 29%|██▊       | 257/900 [18:52<2:32:54, 14.27s/it]
 29%|██▊       | 258/900 [18:52<1:47:43, 10.07s/it]
 29%|██▉       | 259/900 [18:52<1:16:06,  7.12s/it]
 29%|██▉       | 260/900 [18:52<54:01,  5.06s/it]  
 29%|██▉       | 261/900 [18:53<38:34,  3.62s/it]
 29%|██▉       | 262/900 [18:53<27:46,  2.61s/it]
 29%|██▉       | 263/900 [18:53<20:14,  1.91s/it]
 29%|██▉       | 264/900 [18:53<14:58,  1.41s/it]
 29%|██▉       | 265/900 [19:17<1:26:39,  8.19s/it]
 30%|██▉       | 266/900 [19:18<1:01:25,  5.81s/it]
 30%|██▉       | 267/900 [19:18<43:48,  4.15s/it]  
 30%|██▉       | 268/900 [19:18<31:33,  3.00s/it]
 30%|██▉       | 269/900 [19:18<22:53,  2.18s/it]
 30%|███       | 270/900 [19:19<16:49,  1.60s/it]
 30%|███       | 271/900 [19:19<12:34,  1.20s/it]
 30%|███       | 272/900 [19:19<09:36,  1.09it/s]
 30%|███       | 273/900 [19:46<1:29:15,  8.54s/it]
 30%|███       | 273/900 [19:46<45:24,  4.35s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json.
+RubiksCubeThenBananaTask_1 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 274, duration: 18.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.662186423155052, 'joint_sparc_mean': -7.703516788655999, 'ee_isj': 828.929462980519, 'joint_isj': 16748.966396346044, 'ee_path_length': 1.8578740518750652, 'joint_rmse_mean': 1.0839573623223238, 'ee_speed_max': 0.4387773275375366, 'ee_speed_mean': 0.0970034971833229}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 1124.867, 'policy_inference_avg_ms': 4105.4, 'env_step_s': 57.993, 'env_step_avg_ms': 211.7, 'video_write_s': 2.517, 'video_write_avg_ms': 9.2, 'wall_total_s': 1185.378, 'it_per_sec': 0.23}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 41df1c9531824175aa1c5502079342ae-1
+[RoboLab] Running RubiksCubeThenBananaTask_2: 'Put the cube then the banana in the bowl' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:48<12:03:55, 48.32s/it]
  0%|          | 2/900 [00:48<4:59:57, 20.04s/it] 
  0%|          | 3/900 [00:48<2:44:25, 11.00s/it]
  0%|          | 4/900 [00:49<1:40:47,  6.75s/it]
  1%|          | 5/900 [00:49<1:05:38,  4.40s/it]
  1%|          | 6/900 [00:49<44:26,  2.98s/it]  
  1%|          | 7/900 [00:49<30:59,  2.08s/it]
  1%|          | 8/900 [00:49<22:11,  1.49s/it]
  1%|          | 9/900 [01:02<1:11:56,  4.84s/it]
  1%|          | 10/900 [01:02<50:44,  3.42s/it] 
  1%|          | 11/900 [01:02<36:13,  2.44s/it]
  1%|▏         | 12/900 [01:02<26:12,  1.77s/it]
  1%|▏         | 13/900 [01:03<19:16,  1.30s/it]
  2%|▏         | 14/900 [01:03<14:28,  1.02it/s]
  2%|▏         | 15/900 [01:03<11:08,  1.32it/s]
  2%|▏         | 16/900 [01:03<08:48,  1.67it/s]
  2%|▏         | 17/900 [01:35<2:25:48,  9.91s/it]
  2%|▏         | 18/900 [01:35<1:42:53,  7.00s/it]
  2%|▏         | 19/900 [01:35<1:12:56,  4.97s/it]
  2%|▏         | 20/900 [01:36<51:59,  3.55s/it]  
  2%|▏         | 21/900 [01:36<37:20,  2.55s/it]
  2%|▏         | 22/900 [01:36<27:07,  1.85s/it]
  3%|▎         | 23/900 [01:36<19:58,  1.37s/it]
  3%|▎         | 24/900 [01:36<14:59,  1.03s/it]
  3%|▎         | 25/900 [01:50<1:09:09,  4.74s/it]
  3%|▎         | 26/900 [01:50<49:20,  3.39s/it]  
  3%|▎         | 27/900 [01:50<35:29,  2.44s/it]
  3%|▎         | 28/900 [01:51<25:49,  1.78s/it]
  3%|▎         | 29/900 [01:51<19:03,  1.31s/it]
  3%|▎         | 30/900 [01:51<14:19,  1.01it/s]
  3%|▎         | 31/900 [01:51<11:02,  1.31it/s]
  4%|▎         | 32/900 [01:51<08:42,  1.66it/s]
  4%|▎         | 33/900 [02:09<1:23:11,  5.76s/it]
  4%|▍         | 34/900 [02:10<59:09,  4.10s/it]  
  4%|▍         | 35/900 [02:10<42:21,  2.94s/it]
  4%|▍         | 36/900 [02:10<30:37,  2.13s/it]
  4%|▍         | 37/900 [02:10<22:24,  1.56s/it]
  4%|▍         | 38/900 [02:10<16:39,  1.16s/it]
  4%|▍         | 39/900 [02:11<12:38,  1.14it/s]
  4%|▍         | 40/900 [02:11<09:49,  1.46it/s]
  5%|▍         | 41/900 [02:33<1:41:24,  7.08s/it]
  5%|▍         | 42/900 [02:33<1:11:53,  5.03s/it]
  5%|▍         | 43/900 [02:33<51:14,  3.59s/it]  
  5%|▍         | 44/900 [02:34<36:49,  2.58s/it]
  5%|▌         | 45/900 [02:34<26:44,  1.88s/it]
  5%|▌         | 46/900 [02:34<19:40,  1.38s/it]
  5%|▌         | 47/900 [02:34<14:44,  1.04s/it]
  5%|▌         | 48/900 [02:35<11:23,  1.25it/s]
  5%|▌         | 49/900 [02:50<1:12:51,  5.14s/it]
  6%|▌         | 50/900 [02:50<52:04,  3.68s/it]  
  6%|▌         | 51/900 [02:50<37:28,  2.65s/it]
  6%|▌         | 52/900 [02:51<27:16,  1.93s/it]
  6%|▌         | 53/900 [02:51<20:08,  1.43s/it]
  6%|▌         | 54/900 [02:51<15:09,  1.08s/it]
  6%|▌         | 55/900 [02:51<11:41,  1.20it/s]
  6%|▌         | 56/900 [02:52<09:15,  1.52it/s]
  6%|▋         | 57/900 [03:03<55:50,  3.97s/it]
  6%|▋         | 58/900 [03:04<40:07,  2.86s/it]
  7%|▋         | 59/900 [03:04<29:07,  2.08s/it]
  7%|▋         | 60/900 [03:04<21:25,  1.53s/it]
  7%|▋         | 61/900 [03:04<16:02,  1.15s/it]
  7%|▋         | 62/900 [03:05<12:16,  1.14it/s]
  7%|▋         | 63/900 [03:05<09:37,  1.45it/s]
  7%|▋         | 64/900 [03:05<07:46,  1.79it/s]
  7%|▋         | 65/900 [03:21<1:13:52,  5.31s/it]
  7%|▋         | 66/900 [03:22<52:43,  3.79s/it]  
  7%|▋         | 67/900 [03:22<37:55,  2.73s/it]
  8%|▊         | 68/900 [03:22<27:33,  1.99s/it]
  8%|▊         | 69/900 [03:22<20:18,  1.47s/it]
  8%|▊         | 70/900 [03:23<15:14,  1.10s/it]
  8%|▊         | 71/900 [03:23<11:43,  1.18it/s]
  8%|▊         | 72/900 [03:23<09:14,  1.49it/s]
  8%|▊         | 73/900 [03:35<54:02,  3.92s/it]
  8%|▊         | 74/900 [03:35<38:49,  2.82s/it]
  8%|▊         | 75/900 [03:35<28:15,  2.05s/it]
  8%|▊         | 76/900 [03:36<20:49,  1.52s/it]
  9%|▊         | 77/900 [03:36<15:37,  1.14s/it]
  9%|▊         | 78/900 [03:36<11:57,  1.15it/s]
  9%|▉         | 79/900 [03:36<09:27,  1.45it/s]
  9%|▉         | 80/900 [03:37<07:38,  1.79it/s]
  9%|▉         | 81/900 [04:05<2:00:56,  8.86s/it]
  9%|▉         | 82/900 [04:05<1:25:35,  6.28s/it]
  9%|▉         | 83/900 [04:05<1:00:53,  4.47s/it]
  9%|▉         | 84/900 [04:06<43:36,  3.21s/it]  
  9%|▉         | 85/900 [04:06<31:31,  2.32s/it]
 10%|▉         | 86/900 [04:06<23:02,  1.70s/it]
 10%|▉         | 87/900 [04:06<17:07,  1.26s/it]
 10%|▉         | 88/900 [04:07<12:58,  1.04it/s]
 10%|▉         | 89/900 [04:43<2:37:32, 11.66s/it]
 10%|█         | 90/900 [04:43<1:51:11,  8.24s/it]
 10%|█         | 91/900 [04:44<1:18:45,  5.84s/it]
 10%|█         | 92/900 [04:44<56:06,  4.17s/it]  
 10%|█         | 93/900 [04:44<40:12,  2.99s/it]
 10%|█         | 94/900 [04:44<29:04,  2.16s/it]
 11%|█         | 95/900 [04:45<21:16,  1.59s/it]
 11%|█         | 96/900 [04:45<15:50,  1.18s/it]
 11%|█         | 97/900 [05:03<1:25:13,  6.37s/it]
 11%|█         | 98/900 [05:04<1:00:33,  4.53s/it]
 11%|█         | 99/900 [05:04<43:19,  3.25s/it]  
 11%|█         | 100/900 [05:04<31:14,  2.34s/it]
 11%|█         | 101/900 [05:04<22:48,  1.71s/it]
 11%|█▏        | 102/900 [05:05<16:55,  1.27s/it]
 11%|█▏        | 103/900 [05:05<12:50,  1.03it/s]
 12%|█▏        | 104/900 [05:05<09:54,  1.34it/s]
 12%|█▏        | 105/900 [05:30<1:47:26,  8.11s/it]
 12%|█▏        | 106/900 [05:31<1:16:03,  5.75s/it]
 12%|█▏        | 107/900 [05:31<54:06,  4.09s/it]  
 12%|█▏        | 108/900 [05:31<38:46,  2.94s/it]
 12%|█▏        | 109/900 [05:31<28:02,  2.13s/it]
 12%|█▏        | 110/900 [05:32<20:31,  1.56s/it]
 12%|█▏        | 111/900 [05:32<15:16,  1.16s/it]
 12%|█▏        | 112/900 [05:32<11:36,  1.13it/s]
 13%|█▎        | 113/900 [06:30<3:58:03, 18.15s/it]
 13%|█▎        | 114/900 [06:31<2:47:21, 12.78s/it]
 13%|█▎        | 115/900 [06:31<1:57:55,  9.01s/it]
 13%|█▎        | 116/900 [06:31<1:23:21,  6.38s/it]
 13%|█▎        | 117/900 [06:31<59:11,  4.54s/it]  
 13%|█▎        | 118/900 [06:32<42:16,  3.24s/it]
 13%|█▎        | 119/900 [06:32<30:28,  2.34s/it]
 13%|█▎        | 120/900 [06:32<22:12,  1.71s/it]
 13%|█▎        | 121/900 [06:55<1:44:38,  8.06s/it]
 14%|█▎        | 122/900 [06:55<1:14:04,  5.71s/it]
 14%|█▎        | 123/900 [06:55<52:40,  4.07s/it]  
 14%|█▍        | 124/900 [06:56<37:44,  2.92s/it]
 14%|█▍        | 125/900 [06:56<27:17,  2.11s/it]
 14%|█▍        | 126/900 [06:56<19:59,  1.55s/it]
 14%|█▍        | 127/900 [06:56<14:52,  1.15s/it]
 14%|█▍        | 128/900 [06:57<11:18,  1.14it/s]
 14%|█▍        | 129/900 [07:55<3:54:27, 18.25s/it]
 14%|█▍        | 130/900 [07:56<2:44:47, 12.84s/it]
 15%|█▍        | 131/900 [07:56<1:56:06,  9.06s/it]
 15%|█▍        | 132/900 [07:56<1:22:02,  6.41s/it]
 15%|█▍        | 133/900 [07:56<58:14,  4.56s/it]  
 15%|█▍        | 134/900 [07:57<41:36,  3.26s/it]
 15%|█▌        | 135/900 [07:57<29:58,  2.35s/it]
 15%|█▌        | 136/900 [07:57<21:50,  1.72s/it]
 15%|█▌        | 137/900 [08:21<1:47:08,  8.43s/it]
 15%|█▌        | 138/900 [08:21<1:15:47,  5.97s/it]
 15%|█▌        | 139/900 [08:22<53:52,  4.25s/it]  
 16%|█▌        | 140/900 [08:22<38:32,  3.04s/it]
 16%|█▌        | 141/900 [08:22<27:48,  2.20s/it]
 16%|█▌        | 142/900 [08:22<20:19,  1.61s/it]
 16%|█▌        | 143/900 [08:22<15:05,  1.20s/it]
 16%|█▌        | 144/900 [08:23<11:25,  1.10it/s]
 16%|█▌        | 145/900 [08:58<2:19:50, 11.11s/it]
 16%|█▌        | 146/900 [08:58<1:38:39,  7.85s/it]
 16%|█▋        | 147/900 [08:58<1:09:50,  5.57s/it]
 16%|█▋        | 148/900 [08:58<49:43,  3.97s/it]  
 17%|█▋        | 149/900 [08:59<35:38,  2.85s/it]
 17%|█▋        | 150/900 [08:59<25:47,  2.06s/it]
 17%|█▋        | 151/900 [08:59<18:54,  1.51s/it]
 17%|█▋        | 152/900 [08:59<14:05,  1.13s/it]
 17%|█▋        | 153/900 [10:37<6:14:52, 30.11s/it]
 17%|█▋        | 154/900 [10:37<4:22:57, 21.15s/it]
 17%|█▋        | 155/900 [10:37<3:04:41, 14.87s/it]
 17%|█▋        | 156/900 [10:38<2:09:58, 10.48s/it]
 17%|█▋        | 157/900 [10:38<1:31:43,  7.41s/it]
 18%|█▊        | 158/900 [10:38<1:04:59,  5.26s/it]
 18%|█▊        | 159/900 [10:38<46:18,  3.75s/it]  
 18%|█▊        | 160/900 [10:39<33:21,  2.70s/it]
 18%|█▊        | 161/900 [11:15<2:39:17, 12.93s/it]
 18%|█▊        | 162/900 [11:16<1:52:16,  9.13s/it]
 18%|█▊        | 163/900 [11:16<1:19:24,  6.46s/it]
 18%|█▊        | 164/900 [11:16<56:26,  4.60s/it]  
 18%|█▊        | 165/900 [11:16<40:23,  3.30s/it]
 18%|█▊        | 166/900 [11:17<29:08,  2.38s/it]
 19%|█▊        | 167/900 [11:17<21:17,  1.74s/it]
 19%|█▊        | 168/900 [11:17<15:48,  1.30s/it]
 19%|█▉        | 169/900 [12:02<2:53:19, 14.23s/it]
 19%|█▉        | 170/900 [12:02<2:02:05, 10.04s/it]
 19%|█▉        | 171/900 [12:02<1:26:15,  7.10s/it]
 19%|█▉        | 172/900 [12:02<1:01:12,  5.04s/it]
 19%|█▉        | 173/900 [12:03<43:41,  3.61s/it]  
 19%|█▉        | 174/900 [12:03<31:27,  2.60s/it]
 19%|█▉        | 175/900 [12:03<22:53,  1.89s/it]
 20%|█▉        | 176/900 [12:03<16:56,  1.40s/it]
 20%|█▉        | 177/900 [13:08<4:06:49, 20.48s/it]
 20%|█▉        | 178/900 [13:09<2:53:29, 14.42s/it]
 20%|█▉        | 179/900 [13:09<2:02:14, 10.17s/it]
 20%|██        | 180/900 [13:09<1:26:21,  7.20s/it]
 20%|██        | 181/900 [13:09<1:01:18,  5.12s/it]
 20%|██        | 182/900 [13:10<43:47,  3.66s/it]  
 20%|██        | 183/900 [13:10<31:32,  2.64s/it]
 20%|██        | 184/900 [13:10<22:59,  1.93s/it]
 21%|██        | 185/900 [13:56<3:01:03, 15.19s/it]
 21%|██        | 186/900 [13:57<2:07:30, 10.71s/it]
 21%|██        | 187/900 [13:57<1:30:03,  7.58s/it]
 21%|██        | 188/900 [13:57<1:03:52,  5.38s/it]
 21%|██        | 189/900 [13:57<45:34,  3.85s/it]  
 21%|██        | 190/900 [13:58<32:46,  2.77s/it]
 21%|██        | 191/900 [13:58<23:49,  2.02s/it]
 21%|██▏       | 192/900 [13:58<17:34,  1.49s/it]
 21%|██▏       | 193/900 [14:49<3:13:34, 16.43s/it]
 22%|██▏       | 194/900 [14:50<2:16:14, 11.58s/it]
 22%|██▏       | 195/900 [14:50<1:36:10,  8.18s/it]
 22%|██▏       | 196/900 [14:50<1:08:07,  5.81s/it]
 22%|██▏       | 197/900 [14:51<48:31,  4.14s/it]  
 22%|██▏       | 198/900 [14:51<34:49,  2.98s/it]
 22%|██▏       | 199/900 [14:51<25:14,  2.16s/it]
 22%|██▏       | 200/900 [14:51<18:32,  1.59s/it]
 22%|██▏       | 201/900 [16:46<6:53:10, 35.47s/it]
 22%|██▏       | 202/900 [16:46<4:49:43, 24.91s/it]
 23%|██▎       | 203/900 [16:46<3:23:26, 17.51s/it]
 23%|██▎       | 204/900 [16:47<2:23:07, 12.34s/it]
 23%|██▎       | 205/900 [16:47<1:40:57,  8.72s/it]
 23%|██▎       | 206/900 [16:47<1:11:29,  6.18s/it]
 23%|██▎       | 207/900 [16:47<50:51,  4.40s/it]  
 23%|██▎       | 208/900 [16:48<36:26,  3.16s/it]
 23%|██▎       | 209/900 [17:15<2:01:36, 10.56s/it]
 23%|██▎       | 210/900 [17:16<1:25:51,  7.47s/it]
 23%|██▎       | 211/900 [17:16<1:00:50,  5.30s/it]
 24%|██▎       | 212/900 [17:16<43:20,  3.78s/it]  
 24%|██▎       | 213/900 [17:16<31:06,  2.72s/it]
 24%|██▍       | 214/900 [17:17<22:32,  1.97s/it]
 24%|██▍       | 215/900 [17:17<16:34,  1.45s/it]
 24%|██▍       | 216/900 [17:17<12:23,  1.09s/it]
 24%|██▍       | 217/900 [17:48<1:52:52,  9.92s/it]
 24%|██▍       | 218/900 [17:48<1:19:41,  7.01s/it]
 24%|██▍       | 219/900 [17:48<56:28,  4.98s/it]  
 24%|██▍       | 220/900 [17:48<40:15,  3.55s/it]
 25%|██▍       | 221/900 [17:49<28:56,  2.56s/it]
 25%|██▍       | 222/900 [17:49<21:01,  1.86s/it]
 25%|██▍       | 223/900 [17:49<15:29,  1.37s/it]
 25%|██▍       | 224/900 [17:49<11:36,  1.03s/it]
 25%|██▌       | 225/900 [18:50<3:34:21, 19.05s/it]
 25%|██▌       | 226/900 [18:51<2:30:37, 13.41s/it]
 25%|██▌       | 227/900 [18:51<1:46:03,  9.45s/it]
 25%|██▌       | 228/900 [18:51<1:14:54,  6.69s/it]
 25%|██▌       | 229/900 [18:51<53:08,  4.75s/it]  
 26%|██▌       | 230/900 [18:52<37:54,  3.39s/it]
 26%|██▌       | 231/900 [18:52<27:16,  2.45s/it]
 26%|██▌       | 232/900 [18:52<19:50,  1.78s/it]
 26%|██▌       | 233/900 [19:51<3:29:19, 18.83s/it]
 26%|██▌       | 234/900 [19:51<2:27:06, 13.25s/it]
 26%|██▌       | 235/900 [19:51<1:43:34,  9.35s/it]
 26%|██▌       | 236/900 [19:51<1:13:10,  6.61s/it]
 26%|██▋       | 237/900 [19:52<51:54,  4.70s/it]  
 26%|██▋       | 238/900 [19:52<37:02,  3.36s/it]
 27%|██▋       | 239/900 [19:52<26:39,  2.42s/it]
 27%|██▋       | 240/900 [19:52<19:24,  1.76s/it]
 27%|██▋       | 241/900 [20:47<3:14:05, 17.67s/it]
 27%|██▋       | 242/900 [20:47<2:16:25, 12.44s/it]
 27%|██▋       | 243/900 [20:47<1:36:06,  8.78s/it]
 27%|██▋       | 244/900 [20:48<1:07:56,  6.21s/it]
 27%|██▋       | 245/900 [20:48<48:15,  4.42s/it]  
 27%|██▋       | 246/900 [20:48<34:29,  3.16s/it]
 27%|██▋       | 247/900 [20:48<24:51,  2.28s/it]
 28%|██▊       | 248/900 [20:49<18:10,  1.67s/it]
 28%|██▊       | 249/900 [21:42<3:07:22, 17.27s/it]
 28%|██▊       | 250/900 [21:43<2:11:46, 12.16s/it]
 28%|██▊       | 251/900 [21:43<1:32:55,  8.59s/it]
 28%|██▊       | 252/900 [21:43<1:05:46,  6.09s/it]
 28%|██▊       | 253/900 [21:43<46:47,  4.34s/it]  
 28%|██▊       | 254/900 [21:44<33:30,  3.11s/it]
 28%|██▊       | 255/900 [21:44<24:15,  2.26s/it]
 28%|██▊       | 256/900 [21:44<17:45,  1.66s/it]
 29%|██▊       | 257/900 [22:19<2:04:33, 11.62s/it]
 29%|██▊       | 258/900 [22:19<1:27:53,  8.21s/it]
 29%|██▉       | 259/900 [22:20<1:02:15,  5.83s/it]
 29%|██▉       | 260/900 [22:20<44:21,  4.16s/it]  
 29%|██▉       | 261/900 [22:20<31:51,  2.99s/it]
 29%|██▉       | 262/900 [22:20<23:05,  2.17s/it]
 29%|██▉       | 263/900 [22:21<16:59,  1.60s/it]
 29%|██▉       | 264/900 [22:21<12:42,  1.20s/it]
 29%|██▉       | 265/900 [23:29<3:45:05, 21.27s/it]
 30%|██▉       | 266/900 [23:29<2:38:10, 14.97s/it]
 30%|██▉       | 267/900 [23:29<1:51:23, 10.56s/it]
 30%|██▉       | 268/900 [23:30<1:18:41,  7.47s/it]
 30%|██▉       | 269/900 [23:30<55:49,  5.31s/it]  
 30%|███       | 270/900 [23:30<39:50,  3.79s/it]
 30%|███       | 271/900 [23:31<28:40,  2.74s/it]
 30%|███       | 272/900 [23:31<20:51,  1.99s/it]
 30%|███       | 273/900 [26:29<9:32:29, 54.78s/it]
 30%|███       | 274/900 [26:29<6:40:55, 38.43s/it]
 31%|███       | 275/900 [26:29<4:41:01, 26.98s/it]
 31%|███       | 276/900 [26:30<3:17:13, 18.96s/it]
 31%|███       | 277/900 [26:30<2:18:40, 13.35s/it]
 31%|███       | 278/900 [26:30<1:37:43,  9.43s/it]
 31%|███       | 279/900 [26:30<1:09:07,  6.68s/it]
 31%|███       | 280/900 [26:31<49:07,  4.75s/it]  
 31%|███       | 281/900 [30:24<12:37:09, 73.39s/it]
 31%|███▏      | 282/900 [30:24<8:50:00, 51.46s/it] 
 31%|███▏      | 283/900 [30:25<6:11:12, 36.10s/it]
 32%|███▏      | 284/900 [30:25<4:20:13, 25.35s/it]
 32%|███▏      | 285/900 [30:25<3:02:39, 17.82s/it]
 32%|███▏      | 286/900 [30:25<2:08:27, 12.55s/it]
 32%|███▏      | 287/900 [30:26<1:30:34,  8.87s/it]
 32%|███▏      | 288/900 [30:26<1:04:05,  6.28s/it]
 32%|███▏      | 289/900 [31:31<4:04:21, 24.00s/it]
 32%|███▏      | 290/900 [31:32<2:51:29, 16.87s/it]
 32%|███▏      | 291/900 [31:32<2:00:33, 11.88s/it]
 32%|███▏      | 292/900 [31:32<1:24:57,  8.38s/it]
 33%|███▎      | 293/900 [31:32<1:00:05,  5.94s/it]
 33%|███▎      | 294/900 [31:32<42:42,  4.23s/it]  
 33%|███▎      | 295/900 [31:33<30:32,  3.03s/it]
 33%|███▎      | 296/900 [31:33<22:04,  2.19s/it]
 33%|███▎      | 297/900 [33:09<5:03:39, 30.21s/it]
 33%|███▎      | 298/900 [33:09<3:32:54, 21.22s/it]
 33%|███▎      | 299/900 [33:09<2:29:29, 14.92s/it]
 33%|███▎      | 300/900 [33:09<1:45:10, 10.52s/it]
 33%|███▎      | 301/900 [33:09<1:14:12,  7.43s/it]
 34%|███▎      | 302/900 [33:10<52:32,  5.27s/it]  
 34%|███▎      | 303/900 [33:10<37:24,  3.76s/it]
 34%|███▍      | 304/900 [33:10<26:50,  2.70s/it]
 34%|███▍      | 305/900 [33:59<2:45:19, 16.67s/it]
 34%|███▍      | 306/900 [34:00<1:56:13, 11.74s/it]
 34%|███▍      | 307/900 [34:00<1:21:55,  8.29s/it]
 34%|███▍      | 308/900 [34:00<57:55,  5.87s/it]  
 34%|███▍      | 309/900 [34:00<41:10,  4.18s/it]
 34%|███▍      | 310/900 [34:01<29:30,  3.00s/it]
 35%|███▍      | 311/900 [34:01<21:23,  2.18s/it]
 35%|███▍      | 312/900 [34:01<15:42,  1.60s/it]
 35%|███▍      | 313/900 [34:27<1:27:05,  8.90s/it]
 35%|███▍      | 314/900 [34:27<1:01:36,  6.31s/it]
 35%|███▌      | 315/900 [34:28<43:47,  4.49s/it]  
 35%|███▌      | 316/900 [34:28<31:21,  3.22s/it]
 35%|███▌      | 317/900 [34:28<22:37,  2.33s/it]
 35%|███▌      | 318/900 [34:28<16:31,  1.70s/it]
 35%|███▌      | 319/900 [34:29<12:16,  1.27s/it]
 36%|███▌      | 320/900 [34:29<09:17,  1.04it/s]
 36%|███▌      | 321/900 [35:19<2:32:44, 15.83s/it]
 36%|███▌      | 322/900 [35:20<1:47:28, 11.16s/it]
 36%|███▌      | 323/900 [35:20<1:15:50,  7.89s/it]
 36%|███▌      | 324/900 [35:20<53:42,  5.59s/it]  
 36%|███▌      | 325/900 [35:20<38:14,  3.99s/it]
 36%|███▌      | 326/900 [35:21<27:23,  2.86s/it]
 36%|███▋      | 327/900 [35:21<19:48,  2.07s/it]
 36%|███▋      | 328/900 [35:21<14:30,  1.52s/it]
 37%|███▋      | 329/900 [36:21<3:01:53, 19.11s/it]
 37%|███▋      | 330/900 [36:21<2:07:46, 13.45s/it]
 37%|███▋      | 331/900 [36:22<1:29:56,  9.48s/it]
 37%|███▋      | 332/900 [36:22<1:03:30,  6.71s/it]
 37%|███▋      | 333/900 [36:22<45:02,  4.77s/it]  
 37%|███▋      | 334/900 [36:22<32:07,  3.41s/it]
 37%|███▋      | 335/900 [36:23<23:05,  2.45s/it]
 37%|███▋      | 336/900 [36:23<16:48,  1.79s/it]
 37%|███▋      | 337/900 [38:11<5:17:21, 33.82s/it]
 38%|███▊      | 338/900 [38:12<3:42:24, 23.75s/it]
 38%|███▊      | 339/900 [38:12<2:36:03, 16.69s/it]
 38%|███▊      | 340/900 [38:12<1:49:42, 11.75s/it]
 38%|███▊      | 341/900 [38:12<1:17:18,  8.30s/it]
 38%|███▊      | 342/900 [38:13<54:39,  5.88s/it]  
 38%|███▊      | 343/900 [38:13<38:49,  4.18s/it]
 38%|███▊      | 344/900 [38:13<27:46,  3.00s/it]
 38%|███▊      | 345/900 [39:05<2:44:19, 17.77s/it]
 38%|███▊      | 346/900 [39:06<1:55:32, 12.51s/it]
 39%|███▊      | 347/900 [39:06<1:21:26,  8.84s/it]
 39%|███▊      | 348/900 [39:06<57:35,  6.26s/it]  
 39%|███▉      | 349/900 [39:06<40:55,  4.46s/it]
 39%|███▉      | 350/900 [39:07<29:17,  3.20s/it]
 39%|███▉      | 351/900 [39:07<21:09,  2.31s/it]
 39%|███▉      | 352/900 [39:07<15:28,  1.69s/it]
 39%|███▉      | 353/900 [40:39<4:21:42, 28.71s/it]
 39%|███▉      | 354/900 [40:39<3:03:33, 20.17s/it]
 39%|███▉      | 355/900 [40:39<2:08:56, 14.20s/it]
 40%|███▉      | 356/900 [40:40<1:30:46, 10.01s/it]
 40%|███▉      | 357/900 [40:40<1:04:05,  7.08s/it]
 40%|███▉      | 358/900 [40:40<45:26,  5.03s/it]  
 40%|███▉      | 359/900 [40:40<32:24,  3.59s/it]
 40%|████      | 360/900 [40:40<23:17,  2.59s/it]
 40%|████      | 361/900 [41:38<2:50:37, 18.99s/it]
 40%|████      | 362/900 [41:38<1:59:55, 13.37s/it]
 40%|████      | 363/900 [41:38<1:24:30,  9.44s/it]
 40%|████      | 364/900 [41:39<59:44,  6.69s/it]  
 41%|████      | 365/900 [41:39<42:26,  4.76s/it]
 41%|████      | 366/900 [41:39<30:20,  3.41s/it]
 41%|████      | 367/900 [41:39<21:53,  2.46s/it]
 41%|████      | 368/900 [41:40<15:59,  1.80s/it]
 41%|████      | 369/900 [42:57<3:37:16, 24.55s/it]
 41%|████      | 370/900 [42:57<2:32:30, 17.26s/it]
 41%|████      | 371/900 [42:58<1:47:14, 12.16s/it]
 41%|████▏     | 372/900 [42:58<1:15:36,  8.59s/it]
 41%|████▏     | 373/900 [42:58<53:29,  6.09s/it]  
 42%|████▏     | 374/900 [42:59<38:04,  4.34s/it]
 42%|████▏     | 375/900 [42:59<27:16,  3.12s/it]
 42%|████▏     | 376/900 [42:59<19:44,  2.26s/it]
 42%|████▏     | 377/900 [44:14<3:30:35, 24.16s/it]
 42%|████▏     | 378/900 [44:15<2:27:48, 16.99s/it]
 42%|████▏     | 379/900 [44:15<1:43:56, 11.97s/it]
 42%|████▏     | 380/900 [44:15<1:13:17,  8.46s/it]
 42%|████▏     | 381/900 [44:15<51:52,  6.00s/it]  
 42%|████▏     | 381/900 [44:16<1:00:18,  6.97s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json.
+RubiksCubeThenBananaTask_2 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 382, duration: 25.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.6927629397488, 'joint_sparc_mean': -11.32702910977201, 'ee_isj': 1212.79719656832, 'joint_isj': 32864.16784760896, 'ee_path_length': 2.4617645217601756, 'joint_rmse_mean': 1.1016280965353633, 'ee_speed_max': 0.3924342095851898, 'ee_speed_mean': 0.09192679077386856}, events: {'TARGET_OBJECT_DROPPED': 9, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 3, 'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 1, 'GRIPPER_HIT_TABLE': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['rubiks_cube']}, instruction_type: default, timing: {'policy_inference_s': 2572.183, 'policy_inference_avg_ms': 6733.5, 'env_step_s': 80.544, 'env_step_avg_ms': 210.8, 'video_write_s': 3.177, 'video_write_avg_ms': 8.3, 'wall_total_s': 2655.904, 'it_per_sec': 0.14}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 1bb299961d7445b6955fe9a6f61d3dc0-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T16:33:23Z [33,130,974ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.184218 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T16:33:27Z [33,134,737ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T16:33:27Z [33,134,738ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T16:33:27Z [33,134,747ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T16:33:27Z [33,134,747ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T16:33:27Z [33,134,755ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T16:33:27Z [33,134,762ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T16:33:28Z [33,135,640ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1174))' not available in the MDL representation.
+2026-11-02T16:33:28Z [33,135,640ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1174))' not available in the MDL representation.
+2026-11-02T16:33:28Z [33,135,879ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1195))' not available in the MDL representation.
+2026-11-02T16:33:28Z [33,135,879ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1195))' not available in the MDL representation.
+2026-11-02T16:33:29Z [33,137,010ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1174))' not available in the MDL representation.
+2026-11-02T16:33:29Z [33,137,011ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1174))' not available in the MDL representation.
+2026-11-02T16:33:29Z [33,137,012ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1195))' not available in the MDL representation.
+2026-11-02T16:33:29Z [33,137,012ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1195))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.959420 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaInBowlTask                              │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pick up the banana and place it in the bowl   │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaInBowlTaskSceneEnvCfg                   │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaInBowlTask_0: 'Pick up the banana and place it in the bowl' (run 0, 1 envs)
+
  0%|          | 0/750 [00:00<?, ?it/s]
  0%|          | 1/750 [00:58<12:14:10, 58.81s/it]
  0%|          | 2/750 [00:59<5:03:33, 24.35s/it] 
  0%|          | 3/750 [00:59<2:45:58, 13.33s/it]
  1%|          | 4/750 [00:59<1:41:24,  8.16s/it]
  1%|          | 5/750 [00:59<1:05:45,  5.30s/it]
  1%|          | 6/750 [00:59<44:16,  3.57s/it]  
  1%|          | 7/750 [01:00<30:39,  2.48s/it]
  1%|          | 8/750 [01:00<21:43,  1.76s/it]
  1%|          | 9/750 [01:24<1:47:33,  8.71s/it]
  1%|▏         | 10/750 [01:24<1:15:05,  6.09s/it]
  1%|▏         | 11/750 [01:24<52:52,  4.29s/it]  
  2%|▏         | 12/750 [01:25<37:34,  3.06s/it]
  2%|▏         | 13/750 [01:25<26:59,  2.20s/it]
  2%|▏         | 14/750 [01:25<19:37,  1.60s/it]
  2%|▏         | 15/750 [01:25<14:30,  1.18s/it]
  2%|▏         | 16/750 [01:25<10:56,  1.12it/s]
  2%|▏         | 17/750 [01:46<1:24:01,  6.88s/it]
  2%|▏         | 18/750 [01:46<59:31,  4.88s/it]  
  3%|▎         | 19/750 [01:47<42:23,  3.48s/it]
  3%|▎         | 20/750 [01:47<30:25,  2.50s/it]
  3%|▎         | 21/750 [01:47<22:04,  1.82s/it]
  3%|▎         | 22/750 [01:47<16:14,  1.34s/it]
  3%|▎         | 23/750 [01:48<12:10,  1.00s/it]
  3%|▎         | 24/750 [01:48<09:18,  1.30it/s]
  3%|▎         | 25/750 [02:00<50:14,  4.16s/it]
  3%|▎         | 26/750 [02:00<35:55,  2.98s/it]
  4%|▎         | 27/750 [02:00<25:54,  2.15s/it]
  4%|▎         | 28/750 [02:00<18:53,  1.57s/it]
  4%|▍         | 29/750 [02:01<14:00,  1.17s/it]
  4%|▍         | 30/750 [02:01<10:35,  1.13it/s]
  4%|▍         | 31/750 [02:01<08:11,  1.46it/s]
  4%|▍         | 32/750 [02:01<06:32,  1.83it/s]
  4%|▍         | 33/750 [02:14<51:26,  4.30s/it]
  5%|▍         | 34/750 [02:15<36:45,  3.08s/it]
  5%|▍         | 35/750 [02:15<26:29,  2.22s/it]
  5%|▍         | 36/750 [02:15<19:18,  1.62s/it]
  5%|▍         | 37/750 [02:15<14:17,  1.20s/it]
  5%|▌         | 38/750 [02:16<10:47,  1.10it/s]
  5%|▌         | 39/750 [02:16<08:18,  1.43it/s]
  5%|▌         | 40/750 [02:16<06:34,  1.80it/s]
  5%|▌         | 41/750 [02:53<2:16:37, 11.56s/it]
  6%|▌         | 42/750 [02:53<1:36:16,  8.16s/it]
  6%|▌         | 43/750 [02:54<1:08:05,  5.78s/it]
  6%|▌         | 44/750 [02:54<48:22,  4.11s/it]  
  6%|▌         | 45/750 [02:54<34:35,  2.94s/it]
  6%|▌         | 46/750 [02:54<24:57,  2.13s/it]
  6%|▋         | 47/750 [02:55<18:13,  1.56s/it]
  6%|▋         | 48/750 [02:55<13:31,  1.16s/it]
  7%|▋         | 49/750 [03:27<2:02:28, 10.48s/it]
  7%|▋         | 50/750 [03:27<1:26:22,  7.40s/it]
  7%|▋         | 51/750 [03:27<1:01:08,  5.25s/it]
  7%|▋         | 52/750 [03:28<43:30,  3.74s/it]  
  7%|▋         | 53/750 [03:28<31:10,  2.68s/it]
  7%|▋         | 54/750 [03:28<22:33,  1.94s/it]
  7%|▋         | 55/750 [03:28<16:32,  1.43s/it]
  7%|▋         | 56/750 [03:29<12:19,  1.07s/it]
  8%|▊         | 57/750 [04:05<2:14:51, 11.68s/it]
  8%|▊         | 58/750 [04:05<1:35:02,  8.24s/it]
  8%|▊         | 59/750 [04:05<1:07:10,  5.83s/it]
  8%|▊         | 60/750 [04:06<47:41,  4.15s/it]  
  8%|▊         | 61/750 [04:06<34:04,  2.97s/it]
  8%|▊         | 62/750 [04:06<24:34,  2.14s/it]
  8%|▊         | 63/750 [04:06<17:55,  1.57s/it]
  9%|▊         | 64/750 [04:07<13:16,  1.16s/it]
  9%|▊         | 65/750 [04:39<2:00:25, 10.55s/it]
  9%|▉         | 66/750 [04:39<1:24:55,  7.45s/it]
  9%|▉         | 67/750 [04:39<1:00:06,  5.28s/it]
  9%|▉         | 68/750 [04:40<42:46,  3.76s/it]  
  9%|▉         | 69/750 [04:40<30:38,  2.70s/it]
  9%|▉         | 70/750 [04:40<22:10,  1.96s/it]
  9%|▉         | 71/750 [04:40<16:14,  1.44s/it]
 10%|▉         | 72/750 [04:41<12:08,  1.07s/it]
 10%|▉         | 73/750 [05:11<1:52:54, 10.01s/it]
 10%|▉         | 74/750 [05:12<1:19:43,  7.08s/it]
 10%|█         | 75/750 [05:12<56:31,  5.03s/it]  
 10%|█         | 76/750 [05:12<40:19,  3.59s/it]
 10%|█         | 77/750 [05:12<28:58,  2.58s/it]
 10%|█         | 78/750 [05:13<21:04,  1.88s/it]
 11%|█         | 79/750 [05:13<15:32,  1.39s/it]
 11%|█         | 80/750 [05:13<11:40,  1.05s/it]
 11%|█         | 81/750 [05:56<2:31:05, 13.55s/it]
 11%|█         | 82/750 [05:56<1:46:24,  9.56s/it]
 11%|█         | 83/750 [05:56<1:15:10,  6.76s/it]
 11%|█         | 84/750 [05:57<53:21,  4.81s/it]  
 11%|█▏        | 85/750 [05:57<38:06,  3.44s/it]
 11%|█▏        | 86/750 [05:57<27:25,  2.48s/it]
 12%|█▏        | 87/750 [05:57<19:58,  1.81s/it]
 12%|█▏        | 88/750 [05:57<14:45,  1.34s/it]
 12%|█▏        | 89/750 [06:11<54:31,  4.95s/it]
 12%|█▏        | 90/750 [06:11<38:54,  3.54s/it]
 12%|█▏        | 91/750 [06:11<27:59,  2.55s/it]
 12%|█▏        | 92/750 [06:12<20:22,  1.86s/it]
 12%|█▏        | 93/750 [06:12<15:02,  1.37s/it]
 13%|█▎        | 94/750 [06:12<11:17,  1.03s/it]
 13%|█▎        | 95/750 [06:12<08:40,  1.26it/s]
 13%|█▎        | 96/750 [06:13<06:52,  1.59it/s]
 13%|█▎        | 97/750 [06:35<1:18:22,  7.20s/it]
 13%|█▎        | 98/750 [06:35<55:34,  5.11s/it]  
 13%|█▎        | 99/750 [06:36<39:38,  3.65s/it]
 13%|█▎        | 100/750 [06:36<28:28,  2.63s/it]
 13%|█▎        | 101/750 [06:36<20:40,  1.91s/it]
 14%|█▎        | 102/750 [06:36<15:13,  1.41s/it]
 14%|█▎        | 103/750 [06:37<11:25,  1.06s/it]
 14%|█▍        | 104/750 [06:37<08:46,  1.23it/s]
 14%|█▍        | 105/750 [07:04<1:35:07,  8.85s/it]
 14%|█▍        | 106/750 [07:05<1:07:16,  6.27s/it]
 14%|█▍        | 107/750 [07:05<47:49,  4.46s/it]  
 14%|█▍        | 108/750 [07:05<34:13,  3.20s/it]
 15%|█▍        | 109/750 [07:05<24:41,  2.31s/it]
 15%|█▍        | 110/750 [07:06<18:02,  1.69s/it]
 15%|█▍        | 111/750 [07:06<13:23,  1.26s/it]
 15%|█▍        | 112/750 [07:06<10:07,  1.05it/s]
 15%|█▌        | 113/750 [07:29<1:18:59,  7.44s/it]
 15%|█▌        | 114/750 [07:29<56:00,  5.28s/it]  
 15%|█▌        | 115/750 [07:29<39:55,  3.77s/it]
 15%|█▌        | 116/750 [07:29<28:39,  2.71s/it]
 16%|█▌        | 117/750 [07:30<20:46,  1.97s/it]
 16%|█▌        | 118/750 [07:30<15:17,  1.45s/it]
 16%|█▌        | 119/750 [07:30<11:27,  1.09s/it]
 16%|█▌        | 120/750 [07:30<08:46,  1.20it/s]
 16%|█▌        | 121/750 [09:04<5:01:21, 28.75s/it]
 16%|█▋        | 122/750 [09:05<3:31:23, 20.20s/it]
 16%|█▋        | 123/750 [09:05<2:28:29, 14.21s/it]
 17%|█▋        | 124/750 [09:05<1:44:30, 10.02s/it]
 17%|█▋        | 125/750 [09:05<1:13:47,  7.08s/it]
 17%|█▋        | 126/750 [09:05<52:19,  5.03s/it]  
 17%|█▋        | 127/750 [09:06<37:18,  3.59s/it]
 17%|█▋        | 128/750 [09:06<26:49,  2.59s/it]
 17%|█▋        | 129/750 [09:32<1:39:57,  9.66s/it]
 17%|█▋        | 130/750 [09:32<1:10:38,  6.84s/it]
 17%|█▋        | 131/750 [09:33<50:07,  4.86s/it]  
 18%|█▊        | 132/750 [09:33<35:47,  3.48s/it]
 18%|█▊        | 133/750 [09:33<25:45,  2.50s/it]
 18%|█▊        | 134/750 [09:33<18:45,  1.83s/it]
 18%|█▊        | 135/750 [09:34<13:51,  1.35s/it]
 18%|█▊        | 136/750 [09:34<10:25,  1.02s/it]
 18%|█▊        | 137/750 [10:01<1:31:41,  8.97s/it]
 18%|█▊        | 138/750 [10:02<1:04:49,  6.35s/it]
 19%|█▊        | 139/750 [10:02<46:03,  4.52s/it]  
 19%|█▊        | 140/750 [10:02<32:55,  3.24s/it]
 19%|█▉        | 141/750 [10:02<23:46,  2.34s/it]
 19%|█▉        | 142/750 [10:03<17:21,  1.71s/it]
 19%|█▉        | 143/750 [10:03<12:52,  1.27s/it]
 19%|█▉        | 144/750 [10:03<09:44,  1.04it/s]
 19%|█▉        | 145/750 [10:31<1:29:56,  8.92s/it]
 19%|█▉        | 145/750 [10:31<43:54,  4.35s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_0_env0.json.
+BananaInBowlTask_0 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_0, run: 0, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 146, duration: 9.733333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.8902128779919485, 'joint_sparc_mean': -6.032736565435039, 'ee_isj': 785.419275592697, 'joint_isj': 33565.75869559461, 'ee_path_length': 1.317483394639646, 'joint_rmse_mean': 1.1367040168743308, 'ee_speed_max': 0.48838216066360474, 'ee_speed_mean': 0.13351042568683624}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 600.517, 'policy_inference_avg_ms': 4113.1, 'env_step_s': 28.91, 'env_step_avg_ms': 198.0, 'video_write_s': 1.828, 'video_write_avg_ms': 12.5, 'wall_total_s': 631.255, 'it_per_sec': 0.23}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 83566bdd7df544168f4d63dd4b41d960-0
+[RoboLab] Running BananaInBowlTask_1: 'Pick up the banana and place it in the bowl' (run 1, 1 envs)
+
  0%|          | 0/750 [00:00<?, ?it/s]
  0%|          | 1/750 [00:40<8:27:18, 40.64s/it]
  0%|          | 2/750 [00:40<3:30:16, 16.87s/it]
  0%|          | 3/750 [00:41<1:55:22,  9.27s/it]
  1%|          | 4/750 [00:41<1:10:49,  5.70s/it]
  1%|          | 5/750 [00:41<46:12,  3.72s/it]  
  1%|          | 6/750 [00:41<31:23,  2.53s/it]
  1%|          | 7/750 [00:41<21:59,  1.78s/it]
  1%|          | 8/750 [00:42<15:49,  1.28s/it]
  1%|          | 9/750 [00:53<53:56,  4.37s/it]
  1%|▏         | 10/750 [00:53<38:03,  3.09s/it]
  1%|▏         | 11/750 [00:53<27:12,  2.21s/it]
  2%|▏         | 12/750 [00:54<19:43,  1.60s/it]
  2%|▏         | 13/750 [00:54<14:32,  1.18s/it]
  2%|▏         | 14/750 [00:54<10:56,  1.12it/s]
  2%|▏         | 15/750 [00:54<08:26,  1.45it/s]
  2%|▏         | 16/750 [00:54<06:42,  1.83it/s]
  2%|▏         | 17/750 [01:19<1:36:30,  7.90s/it]
  2%|▏         | 18/750 [01:20<1:08:13,  5.59s/it]
  3%|▎         | 19/750 [01:20<48:28,  3.98s/it]  
  3%|▎         | 20/750 [01:20<34:40,  2.85s/it]
  3%|▎         | 21/750 [01:20<25:00,  2.06s/it]
  3%|▎         | 22/750 [01:20<18:17,  1.51s/it]
  3%|▎         | 23/750 [01:21<13:34,  1.12s/it]
  3%|▎         | 24/750 [01:21<10:16,  1.18it/s]
  3%|▎         | 25/750 [01:54<2:07:36, 10.56s/it]
  3%|▎         | 26/750 [01:54<1:30:00,  7.46s/it]
  4%|▎         | 27/750 [01:55<1:03:42,  5.29s/it]
  4%|▎         | 28/750 [01:55<45:19,  3.77s/it]  
  4%|▍         | 29/750 [01:55<32:28,  2.70s/it]
  4%|▍         | 30/750 [01:55<23:29,  1.96s/it]
  4%|▍         | 31/750 [01:55<17:12,  1.44s/it]
  4%|▍         | 32/750 [01:56<12:49,  1.07s/it]
  4%|▍         | 33/750 [02:26<1:56:50,  9.78s/it]
  5%|▍         | 34/750 [02:26<1:22:28,  6.91s/it]
  5%|▍         | 35/750 [02:26<58:25,  4.90s/it]  
  5%|▍         | 36/750 [02:26<41:38,  3.50s/it]
  5%|▍         | 37/750 [02:27<29:52,  2.51s/it]
  5%|▌         | 38/750 [02:27<21:39,  1.83s/it]
  5%|▌         | 39/750 [02:27<15:57,  1.35s/it]
  5%|▌         | 40/750 [02:27<11:56,  1.01s/it]
  5%|▌         | 41/750 [03:03<2:13:51, 11.33s/it]
  6%|▌         | 42/750 [03:03<1:34:21,  8.00s/it]
  6%|▌         | 43/750 [03:03<1:06:44,  5.66s/it]
  6%|▌         | 44/750 [03:03<47:24,  4.03s/it]  
  6%|▌         | 45/750 [03:04<33:54,  2.89s/it]
  6%|▌         | 46/750 [03:04<24:28,  2.09s/it]
  6%|▋         | 47/750 [03:04<17:53,  1.53s/it]
  6%|▋         | 48/750 [03:04<13:17,  1.14s/it]
  7%|▋         | 49/750 [03:27<1:28:47,  7.60s/it]
  7%|▋         | 50/750 [03:27<1:02:50,  5.39s/it]
  7%|▋         | 51/750 [03:27<44:42,  3.84s/it]  
  7%|▋         | 52/750 [03:28<32:01,  2.75s/it]
  7%|▋         | 53/750 [03:28<23:09,  1.99s/it]
  7%|▋         | 54/750 [03:28<16:56,  1.46s/it]
  7%|▋         | 55/750 [03:28<12:36,  1.09s/it]
  7%|▋         | 56/750 [03:28<09:34,  1.21it/s]
  8%|▊         | 57/750 [04:13<2:41:47, 14.01s/it]
  8%|▊         | 58/750 [04:13<1:53:52,  9.87s/it]
  8%|▊         | 59/750 [04:14<1:20:23,  6.98s/it]
  8%|▊         | 60/750 [04:14<57:02,  4.96s/it]  
  8%|▊         | 61/750 [04:14<40:41,  3.54s/it]
  8%|▊         | 62/750 [04:14<29:15,  2.55s/it]
  8%|▊         | 63/750 [04:15<21:15,  1.86s/it]
  9%|▊         | 64/750 [04:15<15:40,  1.37s/it]
  9%|▊         | 65/750 [04:29<1:00:27,  5.30s/it]
  9%|▉         | 66/750 [04:30<43:06,  3.78s/it]  
  9%|▉         | 67/750 [04:30<30:58,  2.72s/it]
  9%|▉         | 68/750 [04:30<22:29,  1.98s/it]
  9%|▉         | 69/750 [04:30<16:33,  1.46s/it]
  9%|▉         | 70/750 [04:31<12:22,  1.09s/it]
  9%|▉         | 71/750 [04:31<09:27,  1.20it/s]
 10%|▉         | 72/750 [04:31<07:26,  1.52it/s]
 10%|▉         | 73/750 [04:43<46:15,  4.10s/it]
 10%|▉         | 74/750 [04:43<33:11,  2.95s/it]
 10%|█         | 75/750 [04:44<24:02,  2.14s/it]
 10%|█         | 76/750 [04:44<17:37,  1.57s/it]
 10%|█         | 77/750 [04:44<13:08,  1.17s/it]
 10%|█         | 78/750 [04:44<10:00,  1.12it/s]
 11%|█         | 79/750 [04:45<07:49,  1.43it/s]
 11%|█         | 80/750 [04:45<06:16,  1.78it/s]
 11%|█         | 81/750 [05:24<2:16:12, 12.22s/it]
 11%|█         | 82/750 [05:25<1:36:03,  8.63s/it]
 11%|█         | 83/750 [05:25<1:07:57,  6.11s/it]
 11%|█         | 84/750 [05:25<48:19,  4.35s/it]  
 11%|█▏        | 85/750 [05:25<34:34,  3.12s/it]
 11%|█▏        | 86/750 [05:26<24:59,  2.26s/it]
 12%|█▏        | 87/750 [05:26<18:17,  1.65s/it]
 12%|█▏        | 88/750 [05:26<13:36,  1.23s/it]
 12%|█▏        | 89/750 [06:18<3:00:47, 16.41s/it]
 12%|█▏        | 90/750 [06:18<2:07:10, 11.56s/it]
 12%|█▏        | 91/750 [06:18<1:29:41,  8.17s/it]
 12%|█▏        | 92/750 [06:19<1:03:29,  5.79s/it]
 12%|█▏        | 93/750 [06:19<45:10,  4.12s/it]  
 13%|█▎        | 94/750 [06:19<32:22,  2.96s/it]
 13%|█▎        | 95/750 [06:19<23:24,  2.14s/it]
 13%|█▎        | 96/750 [06:20<17:09,  1.57s/it]
 13%|█▎        | 97/750 [07:30<4:03:07, 22.34s/it]
 13%|█▎        | 98/750 [07:31<2:50:44, 15.71s/it]
 13%|█▎        | 99/750 [07:31<2:00:09, 11.07s/it]
 13%|█▎        | 100/750 [07:31<1:24:47,  7.83s/it]
 13%|█▎        | 101/750 [07:31<1:00:03,  5.55s/it]
 14%|█▎        | 102/750 [07:32<42:44,  3.96s/it]  
 14%|█▎        | 103/750 [07:32<30:40,  2.84s/it]
 14%|█▍        | 104/750 [07:32<22:13,  2.06s/it]
 14%|█▍        | 105/750 [08:17<2:40:18, 14.91s/it]
 14%|█▍        | 105/750 [08:17<50:57,  4.74s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_1_env0.json.
+BananaInBowlTask_1 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_1, run: 1, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 106, duration: 7.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.602711102535626, 'joint_sparc_mean': -5.483090564368299, 'ee_isj': 655.2968790833311, 'joint_isj': 19877.679473128257, 'ee_path_length': 1.044440447844898, 'joint_rmse_mean': 1.1707650541174985, 'ee_speed_max': 0.48111745715141296, 'ee_speed_mean': 0.14217019081115723}, events: {'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_HIT_TABLE': 3, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 475.619, 'policy_inference_avg_ms': 4487.0, 'env_step_s': 20.555, 'env_step_avg_ms': 193.9, 'video_write_s': 1.54, 'video_write_avg_ms': 14.5, 'wall_total_s': 497.714, 'it_per_sec': 0.21}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 860f1ab6286744af8c1a019db5b1af11-1
+[RoboLab] Running BananaInBowlTask_2: 'Pick up the banana and place it in the bowl' (run 2, 1 envs)
+
  0%|          | 0/750 [00:00<?, ?it/s]
  0%|          | 1/750 [00:41<8:32:06, 41.02s/it]
  0%|          | 2/750 [00:41<3:32:13, 17.02s/it]
  0%|          | 3/750 [00:41<1:56:25,  9.35s/it]
  1%|          | 4/750 [00:41<1:11:25,  5.74s/it]
  1%|          | 5/750 [00:41<46:36,  3.75s/it]  
  1%|          | 6/750 [00:42<31:38,  2.55s/it]
  1%|          | 7/750 [00:42<22:08,  1.79s/it]
  1%|          | 8/750 [00:42<15:55,  1.29s/it]
  1%|          | 9/750 [01:00<1:19:43,  6.46s/it]
  1%|▏         | 10/750 [01:00<55:51,  4.53s/it] 
  1%|▏         | 11/750 [01:00<39:31,  3.21s/it]
  2%|▏         | 12/750 [01:01<28:16,  2.30s/it]
  2%|▏         | 13/750 [01:01<20:29,  1.67s/it]
  2%|▏         | 14/750 [01:01<15:05,  1.23s/it]
  2%|▏         | 15/750 [01:01<11:20,  1.08it/s]
  2%|▏         | 16/750 [01:01<08:42,  1.40it/s]
  2%|▏         | 17/750 [01:13<49:53,  4.08s/it]
  2%|▏         | 18/750 [01:14<35:38,  2.92s/it]
  3%|▎         | 19/750 [01:14<25:41,  2.11s/it]
  3%|▎         | 20/750 [01:14<18:45,  1.54s/it]
  3%|▎         | 21/750 [01:14<13:54,  1.14s/it]
  3%|▎         | 22/750 [01:14<10:30,  1.15it/s]
  3%|▎         | 23/750 [01:15<08:08,  1.49it/s]
  3%|▎         | 24/750 [01:15<06:29,  1.87it/s]
  3%|▎         | 25/750 [01:33<1:09:16,  5.73s/it]
  3%|▎         | 26/750 [01:33<49:14,  4.08s/it]  
  4%|▎         | 27/750 [01:33<35:13,  2.92s/it]
  4%|▎         | 28/750 [01:33<25:26,  2.11s/it]
  4%|▍         | 29/750 [01:34<18:35,  1.55s/it]
  4%|▍         | 30/750 [01:34<13:45,  1.15s/it]
  4%|▍         | 31/750 [01:34<10:23,  1.15it/s]
  4%|▍         | 32/750 [01:34<08:02,  1.49it/s]
  4%|▍         | 33/750 [01:57<1:28:46,  7.43s/it]
  5%|▍         | 34/750 [01:58<1:02:50,  5.27s/it]
  5%|▍         | 35/750 [01:58<44:42,  3.75s/it]  
  5%|▍         | 36/750 [01:58<32:04,  2.70s/it]
  5%|▍         | 37/750 [01:58<23:12,  1.95s/it]
  5%|▌         | 38/750 [01:59<17:01,  1.43s/it]
  5%|▌         | 39/750 [01:59<12:40,  1.07s/it]
  5%|▌         | 40/750 [01:59<09:38,  1.23it/s]
  5%|▌         | 41/750 [02:30<1:55:07,  9.74s/it]
  6%|▌         | 42/750 [02:30<1:21:15,  6.89s/it]
  6%|▌         | 43/750 [02:30<57:34,  4.89s/it]  
  6%|▌         | 44/750 [02:30<41:00,  3.49s/it]
  6%|▌         | 45/750 [02:30<29:26,  2.51s/it]
  6%|▌         | 46/750 [02:31<21:20,  1.82s/it]
  6%|▋         | 47/750 [02:31<15:42,  1.34s/it]
  6%|▋         | 48/750 [02:31<11:44,  1.00s/it]
  7%|▋         | 49/750 [02:51<1:17:42,  6.65s/it]
  7%|▋         | 50/750 [02:51<55:05,  4.72s/it]  
  7%|▋         | 51/750 [02:51<39:18,  3.37s/it]
  7%|▋         | 52/750 [02:52<28:14,  2.43s/it]
  7%|▋         | 53/750 [02:52<20:29,  1.76s/it]
  7%|▋         | 54/750 [02:52<15:04,  1.30s/it]
  7%|▋         | 55/750 [02:52<11:18,  1.02it/s]
  7%|▋         | 56/750 [02:52<08:40,  1.33it/s]
  8%|▊         | 57/750 [03:19<1:38:52,  8.56s/it]
  8%|▊         | 58/750 [03:19<1:09:51,  6.06s/it]
  8%|▊         | 59/750 [03:20<49:35,  4.31s/it]  
  8%|▊         | 60/750 [03:20<35:25,  3.08s/it]
  8%|▊         | 61/750 [03:20<25:30,  2.22s/it]
  8%|▊         | 62/750 [03:20<18:34,  1.62s/it]
  8%|▊         | 63/750 [03:21<13:43,  1.20s/it]
  9%|▊         | 64/750 [03:21<10:20,  1.10it/s]
  9%|▊         | 65/750 [04:37<4:26:59, 23.39s/it]
  9%|▉         | 66/750 [04:37<3:07:23, 16.44s/it]
  9%|▉         | 67/750 [04:37<2:11:43, 11.57s/it]
  9%|▉         | 68/750 [04:37<1:32:48,  8.17s/it]
  9%|▉         | 69/750 [04:38<1:05:36,  5.78s/it]
  9%|▉         | 70/750 [04:38<46:38,  4.12s/it]  
  9%|▉         | 71/750 [04:38<33:25,  2.95s/it]
 10%|▉         | 72/750 [04:38<24:10,  2.14s/it]
 10%|▉         | 73/750 [05:54<4:33:03, 24.20s/it]
 10%|▉         | 74/750 [05:54<3:11:37, 17.01s/it]
 10%|█         | 75/750 [05:54<2:14:43, 11.98s/it]
 10%|█         | 76/750 [05:55<1:34:58,  8.45s/it]
 10%|█         | 77/750 [05:55<1:07:12,  5.99s/it]
 10%|█         | 78/750 [05:55<47:46,  4.27s/it]  
 11%|█         | 79/750 [05:55<34:10,  3.06s/it]
 11%|█         | 80/750 [05:56<24:39,  2.21s/it]
 11%|█         | 81/750 [06:11<1:09:25,  6.23s/it]
 11%|█         | 82/750 [06:11<49:19,  4.43s/it]  
 11%|█         | 83/750 [06:12<35:16,  3.17s/it]
 11%|█         | 84/750 [06:12<25:26,  2.29s/it]
 11%|█▏        | 85/750 [06:12<18:33,  1.67s/it]
 11%|█▏        | 86/750 [06:12<13:45,  1.24s/it]
 12%|█▏        | 87/750 [06:13<10:24,  1.06it/s]
 12%|█▏        | 88/750 [06:13<08:02,  1.37it/s]
 12%|█▏        | 89/750 [06:54<2:21:44, 12.87s/it]
 12%|█▏        | 90/750 [06:54<1:39:51,  9.08s/it]
 12%|█▏        | 91/750 [06:54<1:10:35,  6.43s/it]
 12%|█▏        | 92/750 [06:55<50:08,  4.57s/it]  
 12%|█▏        | 93/750 [06:55<35:50,  3.27s/it]
 13%|█▎        | 94/750 [06:55<25:50,  2.36s/it]
 13%|█▎        | 95/750 [06:55<18:51,  1.73s/it]
 13%|█▎        | 96/750 [06:56<13:58,  1.28s/it]
 13%|█▎        | 97/750 [07:28<1:55:26, 10.61s/it]
 13%|█▎        | 98/750 [07:28<1:21:30,  7.50s/it]
 13%|█▎        | 99/750 [07:29<57:46,  5.33s/it]  
 13%|█▎        | 100/750 [07:29<41:11,  3.80s/it]
 13%|█▎        | 101/750 [07:29<29:35,  2.74s/it]
 14%|█▎        | 102/750 [07:29<21:27,  1.99s/it]
 14%|█▎        | 103/750 [07:30<15:48,  1.47s/it]
 14%|█▍        | 104/750 [07:30<11:50,  1.10s/it]
 14%|█▍        | 105/750 [07:49<1:08:58,  6.42s/it]
 14%|█▍        | 106/750 [07:49<49:00,  4.57s/it]  
 14%|█▍        | 107/750 [07:49<35:02,  3.27s/it]
 14%|█▍        | 108/750 [07:49<25:17,  2.36s/it]
 15%|█▍        | 109/750 [07:50<18:28,  1.73s/it]
 15%|█▍        | 110/750 [07:50<13:40,  1.28s/it]
 15%|█▍        | 111/750 [07:50<10:20,  1.03it/s]
 15%|█▍        | 112/750 [07:50<08:01,  1.33it/s]
 15%|█▌        | 113/750 [08:08<1:01:20,  5.78s/it]
 15%|█▌        | 114/750 [08:08<43:39,  4.12s/it]  
 15%|█▌        | 115/750 [08:08<31:17,  2.96s/it]
 15%|█▌        | 116/750 [08:09<22:39,  2.14s/it]
 16%|█▌        | 117/750 [08:09<16:36,  1.57s/it]
 16%|█▌        | 118/750 [08:09<12:21,  1.17s/it]
 16%|█▌        | 119/750 [08:09<09:25,  1.12it/s]
 16%|█▌        | 120/750 [08:10<07:20,  1.43it/s]
 16%|█▌        | 121/750 [09:00<2:44:42, 15.71s/it]
 16%|█▋        | 122/750 [09:01<1:55:53, 11.07s/it]
 16%|█▋        | 123/750 [09:01<1:21:46,  7.82s/it]
 17%|█▋        | 124/750 [09:01<57:54,  5.55s/it]  
 17%|█▋        | 125/750 [09:01<41:14,  3.96s/it]
 17%|█▋        | 126/750 [09:01<29:34,  2.84s/it]
 17%|█▋        | 127/750 [09:02<21:25,  2.06s/it]
 17%|█▋        | 128/750 [09:02<15:43,  1.52s/it]
 17%|█▋        | 128/750 [09:17<45:09,  4.36s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_2_env0.json.
+BananaInBowlTask_2 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_2, run: 2, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 129, duration: 8.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.4824209598675315, 'joint_sparc_mean': -6.443445948172205, 'ee_isj': 353.2764287392165, 'joint_isj': 11816.877319787374, 'ee_path_length': 1.1375912684002991, 'joint_rmse_mean': 1.214156694181863, 'ee_speed_max': 0.4100809395313263, 'ee_speed_mean': 0.12850569188594818}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 530.635, 'policy_inference_avg_ms': 4113.4, 'env_step_s': 25.243, 'env_step_avg_ms': 195.7, 'video_write_s': 1.706, 'video_write_avg_ms': 13.2, 'wall_total_s': 557.583, 'it_per_sec': 0.23}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 5d07c5e13e3242ac9fe48f56367a8a71-2
+-------------------------------------------------------------------- EXPERIMENT SUMMARY --------------------------------------------------------------------
+Task Name                Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (6 tasks)          15/18    83.3%   [60.4-93.9]    0.833        0.000       15.83   -6.99    3.38       14.1        0.17 46.2       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaInBowlTask         3/3      100.0%  [39.8-99.4]    1.000        -           8.47    -4.99    1.17       13.5        0.22 9.4        
+ClampInRightBinTask      3/3      100.0%  [39.8-99.4]    1.000        -           17.00   -6.64    2.13       12.3        0.17 25.7       
+FoodPacking1BoxesTask    2/3      66.7%   [19.4-93.2]    0.667        0.000       7.23    -5.26    5.31       21.4        0.22 38.0       
+MarkerInMugTask          2/3      66.7%   [19.4-93.2]    0.667        0.000       26.00   -7.96    4.57       14.2        0.10 74.9       
+RubiksCubeThenBananaTask 3/3      100.0%  [39.8-99.4]    1.000        -           18.87   -7.33    1.92       9.8         0.20 26.0       
+SpoonInMugTask           2/3      66.7%   [19.4-93.2]    0.667        0.000       18.97   -9.76    5.16       13.5        0.13 103.2      
+------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..060e445ee2c43fdc04383c52907410310210e5ab
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:243f8b584d5c545b5ef7bc986454d175e13e14d733fd79dfdb89baebb2a6aaa5
+size 10083
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2fc884dd518ff16daff4e0f965b7c36e22061ba2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f8a6c6782986ad2ff3a7247e87438a9d1d2340738cc0c7d175c4aa4b34dc449
+size 945590
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d41d2dcb195274de10ed0496972b790c7d709192
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6575dabde15b3a6130405c5e4aafca4a4a3bb52d9267db5edc0b27d03f1cce0a
+size 84140977
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c30581ef21d463754be5789fd81057a94cee7a92
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4479cfcd4eb5972ffeaef6bdcf41c7d65aca9eb30857dbdfbfe96f9935d6fbd5
+size 39178
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e818b80d890909b0ab4cfdbfce09d27064c76d55
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b0a09647238069734cc34a7be434350d487e45fe2e9435351bdad07e7bd05e2
+size 144603425
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f01101467cf0c1926ec4035ba96e18fa1000a9d5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad2aff04be7dfe3f4ea2865e8dea1f613f22e2678e4943e520530f68c17d88ea
+size 39008
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..ec9708f0446fc0591bf257093691a0dbec7bfbee
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0002/stderr.log
@@ -0,0 +1 @@
+2026-11-02T02:02:45.848298Z ERROR codex_core::tools::router: error=code-mode initial response exceeds the IPC frame limit: code-mode IPC frame length 72069778 exceeds 67108864 bytes
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..377e66f028473884d7356db4073ecb70a72aaac6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39d40df9375ab7addf0976d6df789105720fbdadee672c7af286cc5a9f785b5f
+size 103932638
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5ef2e532600d3d9454329aa22a0505fb20ed972b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef91e4ae4336dc294311440b9f1066129fd7b75309ccfb50956585d91471ee5
+size 33046
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..64251197bf9b9d063a00e073f0b65765aa2072c4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e76791b7be56b781ef4722a7d12a3dc6bd675d36019ff48830919df2845fe71
+size 86533683
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b1139889a4bab672a277c21612c1e75832883d6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df3f10def87f34648c42dad3119c3aadb6651fbf572a966340910b720256643a
+size 24220
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9f47930b0b83b187ca6f5b01108a0cb5f1139fbe
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5448fbe84c6271d1e74a543e2f3c82fb402839a9807ad552dc133ebaef76d43
+size 174399697
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a8c572cbe6c79651b77a2c82ed361944b8b0e70f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b2d05b64785329718e8105f95efb3e8c27c61094b9355db0c3239ac0ee70c4
+size 67969
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eef346a98e74855001d08835fb09ffca22ed892a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba9e35a16a4f196dc49f2d43bf0bf443e71ae0af514bb26450f652e777ee370
+size 28014
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6dc2f092974b9176f206c29860021be24f88ad30
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03e6b5df832602ef3dab08941294cf0db6f431a5768c4fe590a3066bb6524472
+size 1613897
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3363ebdb2199b43409a55b8b6feb5f45a3b6d209
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8a0a29a066082ba34edc485ef9437623813f5f50b92060e17327e2235aff0ee
+size 236356979
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e28e1d6f436ab671ffd0c939b04ecf8c2c4ee494
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aff3fdf14a9df68cb67192c6c8427dc1cf3500fada2b1f0124218316e55f5a0c
+size 125521
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..4850a23ea4828c7c1baedc25486cc97fb1483baa
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0001/stderr.log
@@ -0,0 +1 @@
+2026-11-02T11:08:54.395488Z ERROR codex_core::tools::router: error=apply_patch verification failed: invalid patch: multiple operations target /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0001/runtime_p6bnbn5u/workspace/exterior.b64
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87ae64970f047d07aecc4082a76b09f38661a9a8
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8816b91eb9ee24362914ab704f436b883143b95605670cfd452900196c53accf
+size 48859835
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e6e418b22cf3c8330d4510b3a988b74e94ca595
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf681fba6790b0e997f211b34db7330317e59f858364754383123fa63967b63d
+size 12696
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..db77d1bc7c90b9765a3ffee7f1e04ce162976e6b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80fa051bc375337dff54544cff785595fa1dd8454af083ad1b1ea8bc1f902eb6
+size 58243001
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04eca2ed7f9491afce4e6c505bc92bc3a37af3f6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32a806c559e0eb9621e3e58daa8b0c04d894826104c1c2d15060eae4c075b7bd
+size 17628
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..63e74476322cd5b9baf8b99bc0418d292f7d4bd5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f91bb31f38f2214b19987ac20268cca4bf6f5243f55c0a2c604b6b8a3a1fa063
+size 61486436
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b744bb4e9050ef721c182ff1bb6bc2715301b404
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c822e3086d1131e6795dd1e7db10cc94ad94fa36f872a0dd69fb257ba232df0d
+size 13137
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..60bf452d36d31c27278392962a0de4fdbc0336e2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:661b9806ba15be84a80273295107ab53d4ab1b45e79160c5c34d827854ddcfb4
+size 53101957
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..07ce5f75b33cc5df07be975bd1eed12935e93980
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e86dd7badb40bfc32bdb639454930b2e81be9bca11fe804bbfa2c75b19402227
+size 20024
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5f5f4912c22474afa02f32face44532ccfa3dd38
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb2aa0af4265951426d830a7468dd497584f2b916dee82eb26c9bf5a81b82a6e
+size 23770092
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6c798202a3d944778f833271ad122b53531ba02f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cb657cefd1a873445efe8ac7e49d59ee2a0d5a126aff2e1a07d80e6c4b42073
+size 4644
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4a9ff140807429f94aeb66815f1261a25047760a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4baac4fc24b068e8a3327a4cdd6905a7fa72a53a119ea61e319eb6b462e479
+size 31387118
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6891595f95092700c0edb288846dccf0d37d382
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:187d95a01d6a62b3d8d12df61a0507df16e6d215799289f4ca642210303f07c4
+size 8989
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..78c90bd13ced5375cf4ddb9972b6d4cd0fd824f6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f10e6ab7bc0e3f5a437e95350a7efcb5beba529bbd1a070a73a1b0693dda821
+size 208439333
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39b853ccdcc2e2ff6a53a62f0565d9a7166e4e56
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70a711ca2626651abc0e7204ab065d0063e61fde8e09b2c6cbd68ec155c9720
+size 47609
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..75691fe688b08d915199809e484b012139161ed2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de66c4106cce766176e53dffd9d78763cf70ac8acc3c679a2e5405657c5f0d14
+size 44263135
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af67a72a1ce5ad41b895443d3acce4f54d650e21
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbb10ff00a9d7ccb5c1cb94c504678085cbc78717a8d46597f85daf3bfe0a6ad
+size 8564
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0010/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b0ffb23adefe1a106c3913902148b522669cb03
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4a9b4c23d04f9b3c4381cc5afea3d5aaf881eb0577894d6e167ac28b298b6be
+size 61028573
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0010/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0010/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b42948e391bf69a46b047e2fd70a84eb13326d75
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0010/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43d135b888dd00afc2ffbd7eaf236e949141da024926e6d818a432740704273c
+size 13128
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0010/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0011/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0011/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..824c431f158013e41d5148ba12c0f503627ea376
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0011/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:542708cd477a7da7d5927b1f668538146b677d2c3c68daa209e912258566df78
+size 83343168
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0011/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0011/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d2eb999bd3d6bd894386bcff5b6f2e0d8e6a49e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0011/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd5cf40068d5927dfdf78b1164e260f1b9870cea8fd5dcdc0a07afa776f7374e
+size 23644
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0011/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0011/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0012/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0012/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b1d6213286a373e36345e32f2a2d738e808eb3d7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0012/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15ac0efeb1b7613cd8368dd0ec29a2ab3777e4dc8cd15f2a2ed4c6d1bfaeda74
+size 36389707
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0012/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0012/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4afee83dae8e6d65a7f045313d972797c8e5d990
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0012/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ddc323fa89be880c22ea060c84f0e0fbae7452bb1abb1906530bf0d0bc95f96
+size 8344
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0012/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0012/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0013/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0013/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2ea3ea3f7c7dc8b3fac8620240eade15d4930d38
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0013/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12c6914c11f8ca057396d15354c217a3a6191394abb35ece4138cb97a6699946
+size 27041417
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0013/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0013/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..53b11a73211b1d6005551e918872774327ff35df
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0013/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d77a18cdbb9c3c2c88c7585bfd7a6c9ced4d08e925a1e06dfa685f619501c1e6
+size 4922
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0013/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0013/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0014/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0014/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58d1dbd16bf71b9018ea7f3aa6e2562164663c21
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0014/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feebcca9eae4856120cc9db5295e132435dbf1e49208fd6275a70109e1aa1eb3
+size 32823394
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0014/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0014/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3081505924b9334cb7975dea77f6a211d64e23ee
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0014/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c1a2851f87697e476e70f65e348b509a6fb0183b17328aa503e9894e14d0cf
+size 7102
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0014/stderr.log b/harness_robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval/episode-0014/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab.resume/20261102T072037.623875Z_30f20952/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab.resume/20261102T072037.623875Z_30f20952/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36b209d0cdf58a9246ba3dc527384aeed894008d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab.resume/20261102T072037.623875Z_30f20952/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c1cae24c7d46cf721cc292f3dbd01534755dc07f9abc04e5422c0a849802ee
+size 11945602
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab.resume/20261102T072037.623875Z_30f20952/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab.resume/20261102T072037.623875Z_30f20952/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92af9ba7929ac655a8b000dde59727ca7a7c8b6c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab.resume/20261102T072037.623875Z_30f20952/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0136e5d47b6e29fa1d5980d1d1c804d0c91d0bceb303e62395363be33f37fec
+size 3686810
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab.resume/20261102T072037.623875Z_30f20952/SpoonInMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab.resume/20261102T072037.623875Z_30f20952/SpoonInMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0a1f08910176e99945ebf4eb943766578decff87
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab.resume/20261102T072037.623875Z_30f20952/SpoonInMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:462d5869faa9c32521e2d42793d74596f1953cab8e5cc8045d82a28309e58a11
+size 755408
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9360ddce56fc2a4b7b27450a4a88deb0f30ec1a3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b2d15abe4fb50e43901068d964cc171669f8b79905c91cb98884e9197115e1
+size 3555977
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f71ff057e74ec1b49bb12464892d917352a94d73
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7f5c07e3b7700490eb5bd34395b0c2b693d5ec9ac01fce707ea800bee98f8b0
+size 866414
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1acc51fff3ff7ebde61342b37b5ffc34b88be84e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1a641400b70690bf58784c5a34fa48b1a2006321b943b4ee140fd173a2481c1
+size 2681584
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9cfd4047c8e08de152a73efbcc74424143291b99
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d7ee5343c8dd88e0ceaaad370baa0a6b072bcb468473bb0de02c1d1702f0244
+size 604770
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f3cc9a2d6f4e6833fd102ec41ef1cd12ee9588b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b0c3f263b00286a22e9c3a1ce11ffde8ae0dbface4e12bd0cbe48e693540540
+size 3217623
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74dd03733123fbb24a4b292c6ee94972528c06d3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c2aba0ecb186898066a64fb5bf061a2317054899be1ed504c2d0097b007af90
+size 716758
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b8bce19956fa21b233f1a4c7f2a96379c6d5e7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/env_cfg.json
@@ -0,0 +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:6", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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_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_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_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_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_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_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_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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "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 0x7f0c82e4b740>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f0c82e494e0>, 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"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..245f450476846453d2030cbb71fafecc4f0d11e2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 146, "events": [{"step": 72, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 74, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 98, "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": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 145, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba0233ea3cbc086299481ee3764bca89c7ed8c5b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 106, "events": [{"step": 60, "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": 62, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 62, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 64, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 66, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 73, "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": 77, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..205f6d0f2992c279879e4ddd10fe30f3c306b398
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 129, "events": [{"step": 71, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 76, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 91, "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": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 129, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fc5f6b7c8755e19762927415a36dd119cfb299f4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22ffe9ab49d9e4baf5399beb027ad12ce62157ed946f7318c1e8247718a10b65
+size 201023
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..95fb7fac3ad4dc34719e193abb513bb7b9e524dd
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de9b4796f115455d49e6e4cd972b5b284ef0c5460fe43b07dd2b72d95fcab43
+size 189615
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b779c38586f1699f04993fdaf19a41889aacb63b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/BananaInBowlTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:404bed68753b15c980acd202bbf1cbe148f1d896820e420a7da46e1cf25c9131
+size 195556
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..861c9b84f094e4b401bf74a443a01c6afb0ad9e6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f89e124355ebccd7f27162dc72d3a4222852019c1e4e0644d4fef50c66fa3fb
+size 5759751
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5a0a88d4ac9965f93932b63b252990fb2577c82
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f81e17d109f23abf3258d00eeddfa8d1994d8db64761b8812b71655b0954564
+size 1965721
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6aca73008a15400fae75077e4b0af4130efeea6a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8aae676703341fdaa0f3bf95173bf0288c154cbc41328572a6ce16ac2e06808
+size 5756824
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a6fa325d1e83d53e61a77c12b937c4ff41a6293
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39908029f664a3fa9b9c8a472061c657663cd3b21843f46089ddfbd01d36717a
+size 1912090
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e838947203a478c98771bef68bd26033021b27b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b015d4248dfd96496d9f553a32181d0c994d778dc9f8a4804469025c337957f
+size 4848479
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2f0512b7cad2e1a51a6b44b55634f7e25de9388
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/Put_the_spring_clamp_in_the_right_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5521c61bfa63b4a2bcf7ceef29c584d735701eb8ca5cbf36e96c76868e93d8ab
+size 1565743
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e16de0b3e86bcc52974e8d698c0763a3d5dec19
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/env_cfg.json
@@ -0,0 +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:6", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/tools_container.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": [0.5472192168235779, -6.671319715678692e-05, -0.34699884057044983], "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}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.3832567632198334, -0.030917689204216003, 0.030837547034025192], "rot": [0.9999994039535522, -0.00027199709796938646, -0.0010573647388851387, 9.483031953932822e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spring_clamp": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "spawn": null, "init_state": {"pos": [0.610592782497406, -0.10363898426294327, 0.020865194499492645], "rot": [0.9999879002571106, -0.0009466228789025711, 0.004823782103845945, -0.0001853934054501256], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_hammer", "spawn": null, "init_state": {"pos": [0.5201451778411865, 0.10229665040969849, 0.019043944776058197], "rot": [0.9999916553497314, 0.001956507091222201, 0.0035756124492796327, 0.0002762363453186856], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "husky_hammer": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "spawn": null, "init_state": {"pos": [0.6765944957733154, 0.03523700684309006, 0.042902205139398575], "rot": [0.9967283010482788, -0.0003913133814819076, 0.080657131044, -0.0051930699013370074], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "left_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/left_bin", "spawn": null, "init_state": {"pos": [0.6125770980231825, 0.3813693225383758, 0.002997465431690216], "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}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.6041571790080553, -0.31333314564369297, 0.01092683715758294], "rot": [-0.012439837218431385, 0.0, 0.0, 0.9999226222313301], "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin", "/World/envs/env_.*/scene/right_bin", "/World/envs/env_.*/scene/red_hammer", "/World/envs/env_.*/scene/husky_hammer", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/spring_clamp"], "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__left_bin": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/left_bin"], "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__right_bin": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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__red_hammer": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "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__husky_hammer": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "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__cordless_drill": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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__spring_clamp": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "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_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}}}}, "left_bin__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "left_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "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}}}}, "left_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "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}}}}, "left_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "left_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "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}}}}, "left_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/left_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "right_bin__red_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_hammer"], "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}}}}, "right_bin__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "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}}}}, "right_bin__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "right_bin__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "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}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "red_hammer__husky_hammer": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/husky_hammer"], "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}}}}, "red_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "red_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "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}}}}, "red_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "husky_hammer__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "husky_hammer__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "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}}}}, "husky_hammer__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/husky_hammer", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "cordless_drill__spring_clamp": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spring_clamp"], "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}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "spring_clamp__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spring_clamp", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "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": "spring_clamp", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spring_clamp": [["functools.partial(<function object_grabbed at 0x7f0c82e4b740>, object='spring_clamp')", 0.0], ["functools.partial(<function object_in_container at 0x7f0c82e494e0>, object='spring_clamp', container='right_bin', 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", "spatial", "simple"], "_task_attributes": ["semantics", "spatial", "simple"], "_task_name": "ClampInRightBinTask", "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": "Put the spring clamp in the right bin", "contact_object_list": ["left_bin", "right_bin", "red_hammer", "husky_hammer", "cordless_drill", "spring_clamp", "table"], "_instruction_variants": {"default": "Put the spring clamp in the right bin", "vague": "Put the clamp in the right bin", "specific": "Pick up the spring clamp from the table and place it in the bin on the right side"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1574fbacad0d13ab8069947ac52f8669602ce51
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 259, "events": [{"step": 39, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 59, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 59, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 88, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 99, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 99, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 144, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 168, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 259, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..940f14c44c561a79b83226afb618735257d14e7d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 273, "events": [{"step": 45, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 64, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 64, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 65, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 134, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 209, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 248, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 273, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c9a75411197e24e6f8e4c22433be7d916597b3e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 233, "events": [{"step": 42, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 63, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 64, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 65, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 65, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 66, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 70, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 70, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 75, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 93, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 95, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 95, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 233, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..87b9a625ccae67a126817072aba1988bd8d189e9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:711333c6b443ec8d3b7f0acecc4cf93b791b84958e63eec39b52c215a578d110
+size 363210
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6296135e6a3e9db38a92bc5bb7da2661852bf5b1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4a23e0979d5b7c9c5522f84646378fe1fb12fc2f05707d54edbf885c94169d
+size 366944
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9de8a839a45f9e512a170c95d4e0aca8d421ccc7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/ClampInRightBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39253c02c45f8148cdf6ec5364697c9f47b5b931b3cacbfcb067eafbd7c663e2
+size 348678
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6da5c9fdb2d254fcdfdceb0e4e0487a061f40f99
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c63e73fbacfc6d7bf49c6717f6b3cfeef2799371917366a9c47fc8e768ec64e
+size 2398103
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ee4bce0c52daa58d85c675c6e8dd89819d41777
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef870e2620727594391c6def41f979dbd33da91bdd0bf01ac2f87dfc5a1f2f9f
+size 616894
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3230b93786951b042fe1e3ab9ef2ec0ded81569e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b48bc8e9ee6395646eb25dca8898be92b169b43dbc1fac3f7bd0d2560279181
+size 3063606
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30466f8533df5e13675407a422e67d842e1e69a4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d24d4565a403680b88aaad014bdfb875016452474bb7ab501299662ef6041436
+size 828142
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..319f11df5a6a4bcb1d36f87b20bb9866fff95169
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939c7d31dc7bb907cc16d294951065d03bcf1a4c503218bab1bbe1109f9595b0
+size 17930944
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7afbdc8c832322844cdd3b5f776499269488f4b7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/Pack_boxed_foods_into_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49116f719cfa214f7c9cd1f4de210334e65927067548360b9cc38e5e077e1cf5
+size 4989972
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab6b779beca3d28f28c4b61db351cbeba60edb3e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/env_cfg.json
@@ -0,0 +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:6", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/foodpacking_1bin_1box_1can.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": [0.5472070574760437, -7.31465988792479e-05, -0.3470000624656677], "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}, "bin_a06": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bin_a06", "spawn": null, "init_state": {"pos": [0.6623992323875427, 0.3591690957546234, 0.0030019916594028473], "rot": [-8.307394522785846e-07, 3.147776841841252e-05, -0.0006731755060114463, 0.9999997729215733], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cheez_it": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cheez_it", "spawn": null, "init_state": {"pos": [0.4740942120552063, -0.2727200388908386, 0.10890547186136246], "rot": [0.7055808901786804, -0.014833274869134935, 0.014101319604489647, 0.7083337731301039], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.5671444535255432, 0.3033906817436218, 0.10240653157234192], "rot": [0.9991520047187805, -0.03916314610531943, 0.012512041950778364, -0.0022289593530075767], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "tomato_soup_can": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "spawn": null, "init_state": {"pos": [0.41869235038757324, -0.00021113763796165586, 0.0539], "rot": [0.9997684955596924, -0.001414528593515839, -0.021422391810506817, 0.0014267180115947436], "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06", "/World/envs/env_.*/scene/cheez_it", "/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/tomato_soup_can"], "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__bin_a06": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bin_a06"], "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__cheez_it": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "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__mustard": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "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__tomato_soup_can": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "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_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}}}}, "bin_a06__cheez_it": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cheez_it"], "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}}}}, "bin_a06__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "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}}}}, "bin_a06__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "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}}}}, "bin_a06__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bin_a06", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "cheez_it__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "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}}}}, "cheez_it__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "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}}}}, "cheez_it__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cheez_it", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "mustard__tomato_soup_can": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/tomato_soup_can"], "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}}}}, "mustard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "tomato_soup_can__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/tomato_soup_can", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "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": ["cheez_it"], "container": "bin_a06", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"cheez_it": [["functools.partial(<function object_grabbed at 0x7f0c82e4b740>, object='cheez_it')", 0.0], ["functools.partial(<function object_in_container at 0x7f0c82e494e0>, object='cheez_it', container='bin_a06', 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": "FoodPacking1BoxesTask", "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": "Pack boxed foods into the bin", "contact_object_list": ["bin_a06", "cheez_it", "mustard", "tomato_soup_can", "table"], "_instruction_variants": {"default": "Pack boxed foods into the bin", "vague": "Pack boxes", "specific": "Pick up the boxed food item and place it inside the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f89a646f41ac9d859d9574c34812d3a28fb5cbb
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 0, "success": true, "final_step": 94, "events": [{"step": 54, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 62, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 62, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 64, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 94, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 94, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6f5ef1e8f405dab3c203bb1fbf36df1a367f8b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 1, "success": true, "final_step": 123, "events": [{"step": 54, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 57, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 57, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 58, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 65, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 65, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 70, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 71, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 71, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 73, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 74, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 74, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 75, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 77, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 77, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 86, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 89, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 89, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 90, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 123, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a931fcaf4a6ff2abfa5ca9cbae8d0d4fd362885
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 86, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 90, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 90, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 269, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 269, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 337, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 337, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 366, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 378, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 446, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 459, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 459, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 464, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 498, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 498, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d4721730a1f0e47ce97a2b0053e29788d5d5424c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5292ef6a999e5d46f0c39d23930f9b47343d0734292829a23ec43aefccf64b7
+size 234600
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3c8f05d1672722099f2b604b529109732801aeed
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:030b19d6b1f461e5e578739dd5fd0a8b35734886de2a1d6720b00169fb53f137
+size 246593
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9de6a87e8780d8a4f4b8c7f0ad4a010bbb39b1d6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/FoodPacking1BoxesTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc4c283b3b3633aa97268d463b724fb5ed182b7fc3e1ab781c9816d173f3b4b
+size 534819
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0ee3be67297387a8972f8d9d910c4e0dfbf9d84
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d752042bed29dc176732a47f51e8e88d58a31a23b77041a1be3642d86b5adf2a
+size 9309530
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d756808647b02b9f0efe0ccac4fad9b984f573c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d66d42721a2dc4a83ba818c5b97867ea48745246e48a80a1f5242e82504ea28
+size 2195166
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64483c14f900ab2d68e996c9e3ac4aa1fbccf6db
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7dd10cf6efa5ea216cdcbb4415957a583f3766c8568e8e52b6842c3c3f07bc2
+size 12303312
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a420359de8d7b8e7c217c722404265b32aeffb7a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc173c14c450b55b435a1b0a6f47625fcb3019b95b15b21483ff7f294e6e005d
+size 3214027
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9893e541299b283f51945745c061b3599e112044
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e8637ddb288fb2aa07eeb32a8376ad3c4b371f208f5c14e2fabda06e575fd8
+size 10763055
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e169fa623582325dea40606202d7cb5a1d1fe009
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/Put_the_whiteboard_marker_in_the_mug_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2306985d06c3eb8cb13f4d6ee87114bc3572c825a83aad6907f2a7fe32cc7dfc
+size 2554224
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..3361c7ca7f7069927d678f1c1d70eb17b951241b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/env_cfg.json
@@ -0,0 +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:6", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/workdesk.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": [0.5471952557563782, -5.7007273426279426e-05, -0.34700003266334534], "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}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5655824542045593, 0.39568954706192017, 0.0027951188385486603], "rot": [0.9999956488609314, -0.0013778374201923783, 0.002603331074112206, 0.00016275922976974298], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "glasses": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/glasses", "spawn": null, "init_state": {"pos": [0.37124938133654595, 0.29659840893221917, 0.03227695450186716], "rot": [0.4273157119750972, -0.015990343268805527, -0.03444884042195584, 0.9033044163597035], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "keyboard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/keyboard", "spawn": null, "init_state": {"pos": [0.5687880516052246, 5.0032977014780045e-06, 0.016385065391659737], "rot": [-0.7005698680877687, -0.03917650350080723, 0.03929619707333615, 0.7114231303496614], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lizard_figurine": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "spawn": null, "init_state": {"pos": [0.4766277074813843, -0.33743277192115784, 0.002630986273288727], "rot": [0.9999714493751526, 0.0003277087147036105, 0.007385121812528196, -0.0015662111508582132], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "marker": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/marker", "spawn": null, "init_state": {"pos": [0.27481383085250854, 0.10892250388860703, 0.010260401293635368], "rot": [0.9989923238754272, 0.004751523488879603, 0.044627085782936914, -0.0004278750173696138], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "remote_control": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/remote_control", "spawn": null, "init_state": {"pos": [0.33648618299162875, -0.19670675229143017, -0.010288537479937594], "rot": [-0.42810720205307023, 0.4305316395122437, 0.5649770350390105, -0.5587196799896348], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.2985665202140808, 3.550387918949127e-05, 0.03410554304718971], "rot": [0.9999994039535522, -0.0005342179525544714, 0.0009522065246690963, 2.540429600415186e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "smartphone": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/smartphone", "spawn": null, "init_state": {"pos": [0.8168365955352783, -6.481632590293884e-05, 0.008198646828532219], "rot": [0.9999836087226868, 0.005709951708535049, -0.00040675238505646157, 0.00011528198446181194], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.8202225565910339, 0.3134598135948181, 0.002887912094593048], "rot": [0.9999970197677612, -0.0022493436574678623, 0.00041227879664728766, 0.0008549473084342874], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spoon_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spoon_big", "spawn": null, "init_state": {"pos": [0.7698599419794054, 0.3079741632230389, 0.06094201279041829], "rot": [0.9425379037857056, -0.01870708349599302, 0.33354574366700335, 0.004425136828130295], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "computer_mouse": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "spawn": null, "init_state": {"pos": [0.34163936972618103, -0.32050621509552, 0.023606833070516586], "rot": [0.7058029770851135, 0.708408178087422, 2.853572373409142e-05, -9.971139678230239e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "yogurt_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "spawn": null, "init_state": {"pos": [0.8163773417472839, -0.3472857177257538, 0.0297689288854599], "rot": [0.9999990463256836, 5.759209633328075e-05, -0.0013798338055492074, 9.462706871107092e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "oatmeal_raisin_cookies": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "spawn": null, "init_state": {"pos": [0.8128421902656555, -0.16538779437541962, 0.08616513013839722], "rot": [0.9999673366546631, -0.0026672647498280433, -0.007627426968820995, 0.00018352212217179786], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "granola_bars": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/granola_bars", "spawn": null, "init_state": {"pos": [0.6988375186920166, 0.41800934076309204, 0.06365979462862015], "rot": [0.999995768070221, -0.0027827891895433705, 0.0008484750262059328, 4.0131460484704446e-06], "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/glasses", "/World/envs/env_.*/scene/keyboard", "/World/envs/env_.*/scene/lizard_figurine", "/World/envs/env_.*/scene/marker", "/World/envs/env_.*/scene/remote_control", "/World/envs/env_.*/scene/rubiks_cube", "/World/envs/env_.*/scene/smartphone", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/spoon_big", "/World/envs/env_.*/scene/computer_mouse", "/World/envs/env_.*/scene/yogurt_cup", "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "/World/envs/env_.*/scene/granola_bars"], "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__ceramic_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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__glasses": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "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__keyboard": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "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__lizard_figurine": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "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__marker": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "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__remote_control": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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__rubiks_cube": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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__smartphone": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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__wooden_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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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__spoon_big": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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__computer_mouse": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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__yogurt_cup": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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__oatmeal_raisin_cookies": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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__granola_bars": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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_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}}}}, "ceramic_mug__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "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}}}}, "ceramic_mug__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "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}}}}, "ceramic_mug__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "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}}}}, "ceramic_mug__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "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}}}}, "ceramic_mug__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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}}}}, "ceramic_mug__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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}}}}, "ceramic_mug__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "ceramic_mug__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "ceramic_mug__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "ceramic_mug__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "ceramic_mug__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "ceramic_mug__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "ceramic_mug__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "glasses__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "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}}}}, "glasses__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "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}}}}, "glasses__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "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}}}}, "glasses__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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}}}}, "glasses__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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}}}}, "glasses__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "glasses__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "glasses__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "glasses__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "glasses__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "glasses__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "glasses__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "glasses__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "keyboard__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "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}}}}, "keyboard__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "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}}}}, "keyboard__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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}}}}, "keyboard__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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}}}}, "keyboard__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "keyboard__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "keyboard__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "keyboard__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "keyboard__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "keyboard__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "keyboard__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "keyboard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "lizard_figurine__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "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}}}}, "lizard_figurine__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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}}}}, "lizard_figurine__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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}}}}, "lizard_figurine__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "lizard_figurine__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "lizard_figurine__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "lizard_figurine__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "lizard_figurine__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "lizard_figurine__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "lizard_figurine__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "lizard_figurine__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "marker__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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}}}}, "marker__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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}}}}, "marker__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "marker__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "marker__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "marker__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "marker__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "marker__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "marker__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "marker__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "remote_control__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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}}}}, "remote_control__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "remote_control__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "remote_control__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "remote_control__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "remote_control__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "remote_control__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "remote_control__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "remote_control__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "rubiks_cube__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "rubiks_cube__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "rubiks_cube__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "rubiks_cube__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "rubiks_cube__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "rubiks_cube__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "rubiks_cube__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "smartphone__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "smartphone__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "smartphone__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "smartphone__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "smartphone__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "smartphone__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "smartphone__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "wooden_bowl__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "wooden_bowl__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "wooden_bowl__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "wooden_bowl__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "wooden_bowl__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "wooden_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "spoon_big__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "spoon_big__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "spoon_big__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "spoon_big__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "spoon_big__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "computer_mouse__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "computer_mouse__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "computer_mouse__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "computer_mouse__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "yogurt_cup__oatmeal_raisin_cookies": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/oatmeal_raisin_cookies"], "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}}}}, "yogurt_cup__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "yogurt_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "oatmeal_raisin_cookies__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "oatmeal_raisin_cookies__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/oatmeal_raisin_cookies", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "granola_bars__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/granola_bars", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 40, "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": "marker", "container": "ceramic_mug", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"marker": [["functools.partial(<function object_grabbed at 0x7f2e06c01a80>, object='marker')", 0.0], ["functools.partial(<function object_in_container at 0x7f2e06c018a0>, object='marker', container='ceramic_mug', 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": ["affordance", "moderate"], "_task_attributes": ["affordance", "moderate"], "_task_name": "MarkerInMugTask", "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": "Put the whiteboard marker in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "rubiks_cube", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "oatmeal_raisin_cookies", "granola_bars", "table"], "_instruction_variants": {"default": "Put the whiteboard marker in the mug", "vague": "Put the marker in the mug", "specific": "Pick up the marker and drop it vertically into the mug, make sure the marker stands upright"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ffc1ebb34805ef56acff290384e7bbac8d5b402
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 355, "events": [{"step": 121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 133, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd94755c509b4f8e2a918d95d3d8e6f0481a77f4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 600, "events": [{"step": 72, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 90, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 91, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 235, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['marker'])", "score": 0.0}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 239, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 247, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.072m", "score": 0.0}, {"step": 259, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 291, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.063m", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb0b12b929a99c751be80f164a35e10a4d2c66f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 425, "events": [{"step": 83, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 101, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 116, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 193, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 243, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 245, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 425, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a24306530c3c3b118a2846618c103e8d70b72c61
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f01568ee8613bbfd0275aa2d729e585a359afa2d4cfdaeda37893874785f88
+size 684269
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..40cb73a5d817d15ce11af5687bd05e073c2b5ec4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4ee54bee49beb68f3b30b59a13abc73cf8e3344b44faf47ccc2fc22de6e8c1b
+size 877106
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e8371d847b52a4feb07d4b645d0e3f24c36a2fad
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/MarkerInMugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14bde505c24b1aa213527ca84b350ddf8a0fc56504d7d2639d93d39cb81b1aac
+size 739786
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..394c42a692ecc39e1118ff4cb5da7ea78be9416e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ee9d34e097e1dcde7eecb13b58d7be8713ee5b7cc51b6dc2689b821f219ae4c
+size 3352707
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50c7ca2f55a6bf8fc847a5f1000711db2daa1dc0
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3e3cf9b6c4aae24f48102e8b4ac9004f3412526b8c41cd530128b260b44d30e
+size 997568
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..492fc4a9030478eb370c939058434caf28dbbc99
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:584e3da6425455f590eb430bfa568ed7c4cf95e1e2680ef4d3247bdae9ba0d0a
+size 4723080
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6c8351c809b0f1fde2dd6a0155f66c95da5142e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1622e6f7d9ebc77036f1aeaa7fcc7844f470e5a7fc469e22f5712369978a97da
+size 1399834
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..583d65711895053256d18acb78ac4bb9eceb2337
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c03bd2a747618880e6784556fa063cb8e2ac0dc7e7c472e8f2482b733d46b373
+size 6586498
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f5a87308088220817620338494062a3794abfab
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/Put_the_cube_then_the_banana_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2677697a38958f4baf142549258c0e15d17a38ca588839f89b2533df2222a3d9
+size 1819199
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..38ccd9fd148cec382c3d6b7ac114445f476d986d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/env_cfg.json
@@ -0,0 +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:6", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_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}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.44258353114128113, 0.12658219039440155, 0.07732785493135452], "rot": [0.9999999403953552, -5.875354421326538e-05, -0.0003236202968188691, -0.00010501052579296266], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.4306528866291046, -0.09742811322212219, 0.08113233000040054], "rot": [0.9999990463256836, -0.0009071399440944852, 0.0010379400315123045, 8.441170612118017e-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": [0.538878858089447, -0.07555567473173141, 0.0684281587600708], "rot": [0.9999781250953674, -0.002664888769974798, -0.006051987813043361, 0.00014540326035168], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [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": [0.19858434796333313, 0.02206825464963913, 0.05000072345137596], "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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube", "/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__rubiks_cube": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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_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_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_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}}}}, "rubiks_cube__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "rubiks_cube__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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_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_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_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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:objects_placed_in_container_in_order", "params": {"objects": ["rubiks_cube", "banana"], "container": "bowl", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7f0c82e4b740>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7f0c82e494e0>, object='rubiks_cube', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}, {"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7f0c82e4b740>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f0c82e494e0>, 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": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "RubiksCubeThenBananaTask", "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": "Put the cube then the banana in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "Put the cube then the banana in the bowl", "vague": "Put the cube then banana in the bowl", "specific": "First pick up the rubiks cube that's on the table and place it in the bowl, then pick up the yellow banana and place it in the bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f3cc4090a0a24696433a5cd74957f788e9a2dd7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 0, "success": true, "final_step": 193, "events": [{"step": 50, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 52, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 52, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 55, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 56, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 56, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 57, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 97, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 97, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 152, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 193, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..132f77e079b2747a7a2f843ddf306d6089b82113
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 1, "success": true, "final_step": 274, "events": [{"step": 43, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 59, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 63, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 63, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 64, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 64, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 65, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 65, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 109, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 137, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 199, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 273, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa97a69c0ae455cc60c815291dee4d1fe16d6a32
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 2, "success": true, "final_step": 382, "events": [{"step": 75, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 92, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 92, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 103, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.5}, {"step": 103, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 103, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.5}, {"step": 104, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 108, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.050m", "score": 0.5}, {"step": 160, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 162, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 178, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 260, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 260, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 263, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 263, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 277, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 277, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 310, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 312, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 313, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 372, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 372, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 381, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"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' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..66868494da8a2b4af5fba2b8506abc780dd7a0af
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6923bdb42802e4a633cf80cf457f8e9f489e7d86b09ec986c19b5c09feec2b91
+size 244495
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4f0c45611169e8732559b281acb421b759c19bf7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94408bcd09018968254b01f6a58939172c20e3276a3f25e617025394e55cdf2d
+size 274912
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..700925fb02372271b9c9c47f5da8a634e1660fe5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/RubiksCubeThenBananaTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d065c3619e33590c1ee18f8a570c385990ea083afacddc830386de0e0650da8a
+size 316004
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34e9f68922c8d133f06607b689b8a0dcc3ffecb0
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ec64867e1e3242b4ea39bd8833d1e7a5331a9d66ea6185db8a2a49fa1c22cf
+size 8848649
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de6089f1a16f4fe07fcf7efd64348d76cc09554e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deff88e71e907edcd7cfd7d685250a4986f5f659a0015693a1279d1173d0b559
+size 1919262
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beac4d86417cb00fc1df72b999e48a00fb1d1bdb
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80754ac8c042fd847aaf4df9515cdb34ddbebc62cf44a29f728527b49ff999f0
+size 21515523
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c28a8eef012c21bd71ddf669ce3e588334c50954
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1367c629925b57598e059fda6876b520d5c3debd7cc9cbf5577d980a71bec924
+size 6270544
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e89b12967ec8963eb8a6b250157aee044d411195
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05cfc22fe9772228d49445d3d45fee2ef45778f5e2e86152c373259aed41cb05
+size 5252546
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..274a0f82af65bf68207bfda19eabb12117add80f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/Put_the_metal_spoon_thats_in_the_wooden_bowl_in_the_mug_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec2f1b937879952979e75d6f0cbcc60ba43a76549b5fbb0a3518f30c0693fec3
+size 1409870
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..87328a8db234c3dc0c8831d789d4048b1818e6b2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/env_cfg.json
@@ -0,0 +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:6", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/workdesk_bin.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": [0.5471949577331543, -5.7009914598893374e-05, -0.3470000624656677], "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}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.5123468041419983, 0.3956894874572754, 0.002794858068227768], "rot": [0.9999955892562866, -0.0013856729552302854, 0.0026219909588924067, 0.00016291668032326505], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "glasses": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/glasses", "spawn": null, "init_state": {"pos": [0.3693132698535919, 0.2950078547000885, 0.031487610191106796], "rot": [0.42606157064437866, -0.034701488878072034, -0.07400851689471265, 0.9009939423307658], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "keyboard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/keyboard", "spawn": null, "init_state": {"pos": [0.568644940853121, -0.11254113912582395, 0.11716901154635895], "rot": [-0.6714183688163762, -0.1971906099306493, -0.13382883191844386, 0.7017143871394401], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lizard_figurine": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "spawn": null, "init_state": {"pos": [0.42867201566696167, 0.07189248502254486, 0.0026061907410621643], "rot": [0.9354749917984009, 0.0040454753115796195, 0.007782344312363656, -0.3532840344061546], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "marker": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/marker", "spawn": null, "init_state": {"pos": [0.2747778296470642, 0.10900786519050598, 0.012070379219949245], "rot": [0.9990788102149963, -0.0007191888330277831, 0.04290336132224691, -0.0005615461356871434], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "remote_control": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/remote_control", "spawn": null, "init_state": {"pos": [0.2856173565106219, -0.1395261124187606, -0.01028998661786311], "rot": [-0.5370074510574339, 0.540642016494328, 0.46072053347530584, -0.45504483025738696], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "smartphone": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/smartphone", "spawn": null, "init_state": {"pos": [0.30194494128227234, 0.04649155214428902, 0.04082714021205902], "rot": [0.9708831906318665, -0.17378550277725408, 0.16100684515602603, -0.035513729540099466], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "wooden_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "spawn": null, "init_state": {"pos": [0.8202221989631653, 0.31346437335014343, 0.002888549119234085], "rot": [0.9999969601631165, -0.0022227631037289174, 0.0004132512641459786, 0.0009839776948003978], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spoon_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spoon_big", "spawn": null, "init_state": {"pos": [0.7689590454101562, 0.308388352394104, 0.04886004328727722], "rot": [0.9490694999694824, -0.003299362267567515, 0.31502998714271885, 0.003507939161726195], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "computer_mouse": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "spawn": null, "init_state": {"pos": [0.34163898229599, -0.32050642371177673, 0.0236058346927166], "rot": [0.705802083015442, 0.7084090677896465, 3.4570693814590804e-05, -0.00010530590905583741], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "yogurt_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "spawn": null, "init_state": {"pos": [0.29424038529396057, -0.05287781357765198, 0.02977272868156433], "rot": [0.9999986290931702, 0.00043958571664288624, -0.0015963226817922438, -1.816792782932948e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "granola_bars": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/granola_bars", "spawn": null, "init_state": {"pos": [0.664033830165863, 0.39246994256973267, 0.021376578137278557], "rot": [0.7041239738464357, -0.015542179661679794, 0.7097817974233512, 0.013329296776092835], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.573340117931366, -0.21034985780715942, 0.0030006133019924164], "rot": [0.9258334636688232, -1.9307484551176733e-06, -2.3411986636799397e-06, 0.3779317366162583], "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/glasses", "/World/envs/env_.*/scene/keyboard", "/World/envs/env_.*/scene/lizard_figurine", "/World/envs/env_.*/scene/marker", "/World/envs/env_.*/scene/remote_control", "/World/envs/env_.*/scene/smartphone", "/World/envs/env_.*/scene/wooden_bowl", "/World/envs/env_.*/scene/spoon_big", "/World/envs/env_.*/scene/computer_mouse", "/World/envs/env_.*/scene/yogurt_cup", "/World/envs/env_.*/scene/granola_bars", "/World/envs/env_.*/scene/grey_bin"], "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__ceramic_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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__glasses": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "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__keyboard": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "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__lizard_figurine": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "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__marker": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "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__remote_control": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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__smartphone": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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__wooden_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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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__spoon_big": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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__computer_mouse": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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__yogurt_cup": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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__granola_bars": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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__grey_bin": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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_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}}}}, "ceramic_mug__glasses": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/glasses"], "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}}}}, "ceramic_mug__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "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}}}}, "ceramic_mug__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "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}}}}, "ceramic_mug__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "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}}}}, "ceramic_mug__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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}}}}, "ceramic_mug__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "ceramic_mug__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "ceramic_mug__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "ceramic_mug__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "ceramic_mug__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "ceramic_mug__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "ceramic_mug__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "glasses__keyboard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/keyboard"], "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}}}}, "glasses__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "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}}}}, "glasses__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "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}}}}, "glasses__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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}}}}, "glasses__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "glasses__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "glasses__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "glasses__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "glasses__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "glasses__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "glasses__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "glasses__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/glasses", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "keyboard__lizard_figurine": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lizard_figurine"], "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}}}}, "keyboard__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "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}}}}, "keyboard__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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}}}}, "keyboard__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "keyboard__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "keyboard__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "keyboard__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "keyboard__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "keyboard__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "keyboard__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "keyboard__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/keyboard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "lizard_figurine__marker": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/marker"], "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}}}}, "lizard_figurine__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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}}}}, "lizard_figurine__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "lizard_figurine__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "lizard_figurine__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "lizard_figurine__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "lizard_figurine__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "lizard_figurine__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "lizard_figurine__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "lizard_figurine__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lizard_figurine", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "marker__remote_control": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/remote_control"], "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}}}}, "marker__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "marker__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "marker__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "marker__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "marker__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "marker__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "marker__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "marker__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/marker", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "remote_control__smartphone": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/smartphone"], "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}}}}, "remote_control__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "remote_control__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "remote_control__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "remote_control__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "remote_control__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "remote_control__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "remote_control__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/remote_control", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "smartphone__wooden_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wooden_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}}}}, "smartphone__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "smartphone__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "smartphone__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "smartphone__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "smartphone__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "smartphone__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/smartphone", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "wooden_bowl__spoon_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spoon_big"], "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}}}}, "wooden_bowl__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "wooden_bowl__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "wooden_bowl__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "wooden_bowl__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "wooden_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wooden_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "spoon_big__computer_mouse": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/computer_mouse"], "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}}}}, "spoon_big__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "spoon_big__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "spoon_big__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "spoon_big__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spoon_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "computer_mouse__yogurt_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yogurt_cup"], "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}}}}, "computer_mouse__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "computer_mouse__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "computer_mouse__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/computer_mouse", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "yogurt_cup__granola_bars": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/granola_bars"], "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}}}}, "yogurt_cup__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "yogurt_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yogurt_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "granola_bars__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/granola_bars", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "granola_bars__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/granola_bars", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "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": "spoon_big", "container": "ceramic_mug", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spoon_big": [["functools.partial(<function object_grabbed at 0x7f0c82e4b740>, object='spoon_big')", 0.0], ["functools.partial(<function object_in_container at 0x7f0c82e494e0>, object='spoon_big', container='ceramic_mug', 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": ["affordance", "spatial", "moderate"], "_task_attributes": ["affordance", "spatial", "moderate"], "_task_name": "SpoonInMugTask", "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": "Put the metal spoon that's in the wooden bowl in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the metal spoon that's in the wooden bowl in the mug", "vague": "Put the spoon in the mug", "specific": "Take the metal spoon in the wooden bowl and place it inside the ceramic mug with the handle sticking out"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c439705f4875e81c18539406c2e0e15cb6a9c3b7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 369, "events": [{"step": 59, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 89, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 89, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 91, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 91, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 222, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 274, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 274, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 297, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 307, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 310, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 369, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2837c1a98b37e596349effb28a5419b715033376
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 58, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 58, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 59, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 61, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 67, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 169, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.107m", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 179, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 179, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 181, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 185, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 370, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 659, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lizard_figurine' nudged 0.065m", "score": 0.0}, {"step": 659, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 690, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 720, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 730, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 769, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 769, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 820, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 848, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 848, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 852, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 852, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 854, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 867, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.083m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..93a3c1c18f904ae5e0bfc2405702c1edba6c7245
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 200, "events": [{"step": 39, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 40, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 40, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 42, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 97, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 146, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 169, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..98f227f68da90f5ea9d309dc29dfdde97908a80b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ca53c92036bd6f25cbd402c84357a43ab64b66691dce4b80485bec810cdc67
+size 657353
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d5805d4954a7b019b513b922cf21f1c950bac942
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d1a243c7e0d418fdf67664cf7ff9663baa3c8ae1fbb72a6784827de8d08dd46
+size 1093196
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8634d4fd3b531fcc2e063b38c383f3ca69287a01
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/SpoonInMugTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434c32cb8e2aa6eb9ca67c673cbf039ba1af4921d5b786530c293d027aa65be9
+size 534230
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_image640/gpu_6/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a145603e7d83a895d082e3fe3054d2728c0a680b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76aac4cc138a7d49300dcf86131d0f551e3cff0c4f08c414718cba4104b4b6a5
+size 20644
diff --git a/harness_robolab_exploration/embo_image640/gpu_6/server.log b/harness_robolab_exploration/embo_image640/gpu_6/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..10098f466ff5c386bfb992c46478f0f08c8f4263
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_6/server.log
@@ -0,0 +1,94 @@
+[2026-11-02T00:40:08Z] GPU 6: Starting worker at MarkerInMugTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 35560) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode eb76dd4e708146bb982c9b0cac8049fb-0 (codex/gpt-6-astra) ended: wall=2397.404s harness=2180.968s tokens=4150689 usage_complete=False decisions=45 executed_steps=355 steps_complete=True network_wait=2386.8746253848076 rate_limit_wait=0 rate_limit_count=0 excluded=2386.8746253848076 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d705f54b19f240b19a81caeb5c2a073d-1 (codex/gpt-6-astra) ended: wall=2969.007s harness=2611.717s tokens=4686810 usage_complete=False decisions=75 executed_steps=600 steps_complete=True network_wait=1855.3336195275187 rate_limit_wait=0 rate_limit_count=0 excluded=1855.3336195275187 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 9bfe1ee4b8814ba3b98c43b7f2fc8d3a-2 (codex/gpt-6-astra) ended: wall=2737.708s harness=2478.040s tokens=5207802 usage_complete=False decisions=54 executed_steps=425 steps_complete=True network_wait=1139.2729164958 rate_limit_wait=0 rate_limit_count=0 excluded=1139.2729164958 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7fbfac44f96a418899845601c9d3bc1f-0 (codex/gpt-6-astra) ended: wall=1830.379s harness=1626.895s tokens=4228256 usage_complete=False decisions=47 executed_steps=369 steps_complete=True network_wait=236.61837778240442 rate_limit_wait=0 rate_limit_count=0 excluded=236.61837778240442 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f73bbfceb6bd4f988b07a25c2c27d643-1 (codex/gpt-6-astra) execution_error: wall=N/As harness=N/As tokens=5801529 usage_complete=False decisions=92 executed_steps=736 steps_complete=False network_wait=5510.916969053447 rate_limit_wait=0 rate_limit_count=0 excluded=5452.571562372148 timing=partial; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T004010.739900Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-02T07:20:37Z] GPU 6: SpoonInMugTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-02T07:21:07Z] GPU 6: Starting worker at SpoonInMugTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 33524) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8afcdb11d4674e0197df89b41f2cbe50-1 (codex/gpt-6-astra) ended: wall=6442.133s harness=5955.967s tokens=13966826 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=8803.086081333458 rate_limit_wait=0 rate_limit_count=0 excluded=8803.086081333458 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 405ff10fa42d4d8b9f69db6d40af1a36-2 (codex/gpt-6-astra) ended: wall=894.998s harness=785.483s tokens=1522767 usage_complete=False decisions=25 executed_steps=200 steps_complete=True network_wait=371.8355695158243 rate_limit_wait=0 rate_limit_count=0 excluded=371.8355695158243 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 02b178ae8f104c95af81c4ec324fdabf-0 (codex/gpt-6-astra) ended: wall=1382.698s harness=1303.123s tokens=2580910 usage_complete=False decisions=33 executed_steps=259 steps_complete=True network_wait=562.6752880737185 rate_limit_wait=0 rate_limit_count=0 excluded=562.6752880737185 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 489c750e09224049969e7e00deeff468-1 (codex/gpt-6-astra) ended: wall=1192.075s harness=1108.274s tokens=2821082 usage_complete=False decisions=35 executed_steps=273 steps_complete=True network_wait=183.9409706518054 rate_limit_wait=0 rate_limit_count=0 excluded=183.9409706518054 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2ca75f909f90462982a563d09637d868-2 (codex/gpt-6-astra) ended: wall=1023.456s harness=951.577s tokens=2345791 usage_complete=False decisions=30 executed_steps=233 steps_complete=True network_wait=288.9437612518668 rate_limit_wait=0 rate_limit_count=0 excluded=288.9437612518668 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8645b22c542f433a812c4999d03ad361-0 (codex/gpt-6-astra) ended: wall=280.842s harness=254.908s tokens=848380 usage_complete=False decisions=12 executed_steps=94 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode acddffdddbd3471bb56d7d452056c02a-1 (codex/gpt-6-astra) ended: wall=425.650s harness=392.264s tokens=1311198 usage_complete=False decisions=16 executed_steps=123 steps_complete=True network_wait=231.73914244025946 rate_limit_wait=0 rate_limit_count=0 excluded=231.73914244025946 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f6df01fa84a84d6997c566925324ff4f-2 (codex/gpt-6-astra) ended: wall=4105.451s harness=3872.207s tokens=8516719 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=1792.533983245492 rate_limit_wait=0 rate_limit_count=0 excluded=1792.533983245492 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 416ac35627c04962b6aaf6fa48228170-0 (codex/gpt-6-astra) ended: wall=836.060s harness=786.641s tokens=1556124 usage_complete=False decisions=25 executed_steps=193 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 41df1c9531824175aa1c5502079342ae-1 (codex/gpt-6-astra) ended: wall=1057.157s harness=987.233s tokens=2867687 usage_complete=False decisions=35 executed_steps=274 steps_complete=True network_wait=129.21644715964794 rate_limit_wait=0 rate_limit_count=0 excluded=129.21644715964794 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1bb299961d7445b6955fe9a6f61d3dc0-2 (codex/gpt-6-astra) ended: wall=2079.455s harness=1983.806s tokens=4119293 usage_complete=False decisions=48 executed_steps=382 steps_complete=True network_wait=576.7149692922831 rate_limit_wait=0 rate_limit_count=0 excluded=576.7149692922831 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 83566bdd7df544168f4d63dd4b41d960-0 (codex/gpt-6-astra) ended: wall=566.609s harness=531.244s tokens=1508754 usage_complete=False decisions=19 executed_steps=146 steps_complete=True network_wait=64.75051480531693 rate_limit_wait=0 rate_limit_count=0 excluded=64.75051480531693 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 860f1ab6286744af8c1a019db5b1af11-1 (codex/gpt-6-astra) ended: wall=497.795s harness=472.225s tokens=799168 usage_complete=False decisions=14 executed_steps=106 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 5d07c5e13e3242ac9fe48f56367a8a71-2 (codex/gpt-6-astra) ended: wall=503.652s harness=472.636s tokens=1358803 usage_complete=True decisions=17 executed_steps=129 steps_complete=True network_wait=54.0204361602664 rate_limit_wait=0 rate_limit_count=0 excluded=54.0204361602664 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_6/harness/20261102T072110.400879Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 33524) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/client.log b/harness_robolab_exploration/embo_image640/gpu_7/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..654c0d295421bf458c6c728916edc107e6820cb5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/client.log
@@ -0,0 +1,1330 @@
+[2026-11-02T00:40:08Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:7
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261102_004012.log
+2026-11-02T00:40:12Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-02T00:40:12Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-02T00:40:12Z [16ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-02T00:40:12Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-02T00:40:13Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-02T00:40:13Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-02T00:40:13Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-02T00:40:13Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-02T00:40:13Z [32ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-02T00:40:13Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-02T00:40:13Z [37ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-02T00:40:13Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-02T00:40:13Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-02T00:40:13Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-02T00:40:13Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-02T00:40:13Z [48ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-02T00:40:13Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-02T00:40:17Z [4,287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:17Z [4,287ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:17Z [4,415ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-02T00:40:20Z [7,907ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:20Z [7,908ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:20Z [7,910ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 919319
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-02T00:40:28Z [15,744ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-02T00:40:28Z [15,744ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 910.40  21.81   3.94   1.12   1.45   1.83   7.44   8.24 
+     1   1.64 902.66   1.95   1.52   8.40   7.74   7.72   6.91 
+     2   1.87   1.70 903.70   1.04  13.08   8.17   8.25   6.32 
+     3   7.93  10.05   8.27 890.31   7.79   5.64   6.81   6.61 
+     4   4.24   4.68   6.28   6.52 864.77   7.75   7.71   7.53 
+     5   6.40   5.58   5.06   6.13   5.84 882.27   8.56   6.77 
+     6   6.58   5.99   5.69   4.54   5.76   9.24 901.62   6.21 
+     7   8.93   6.69   6.58   5.15   7.78  13.83  11.71 919.12 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.44  14.05  12.01  16.40  15.33  14.78  15.35  13.39 
+     1  14.48   1.52  14.48  14.97  15.08  12.64  12.03  12.20 
+     2  15.98  14.17   1.53  13.47  14.90  13.02  12.15  14.91 
+     3  14.42  17.39  14.96   1.46  14.33  12.97  12.96  13.41 
+     4  12.17  11.69  11.81  14.01   1.46  12.75  12.02  13.14 
+     5  11.95  12.39  12.30  12.26  14.34   1.41  11.86  12.32 
+     6  12.15  11.42  11.93  11.86  12.84  11.93   1.41  14.05 
+     7  11.72  14.81  12.94  11.78  11.98  14.75  11.86   1.32 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   4.53  14.56  15.45  12.95  11.84  10.50  10.27  11.21 
+     1  12.81   3.97  12.32  12.10  10.29  10.73  10.41  10.43 
+     2  12.65  12.70   3.97  12.88  11.88  11.04  11.79  11.04 
+     3  13.07  14.11  12.52   3.83  11.41  10.68  10.85  11.21 
+     4  11.24  11.19  14.73  11.45   3.04   9.29   9.29   9.07 
+     5  11.36  11.22  12.18  11.00   9.71   3.34  10.20   9.56 
+     6  11.96  11.87  11.38  11.72   9.28   9.54   3.09   9.13 
+     7  11.95  11.17  11.52  10.91   9.16   9.19   9.16   2.93 
+2026-11-02T00:40:40Z [27,291ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.0 GB/s.
+2026-11-02T00:40:40Z [27,291ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 17.4 us.
+2026-11-02T00:40:40Z [27,291ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-02T00:40:43Z [30,590ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:43Z [30,591ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:43Z [30,673ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:43Z [30,673ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:43Z [30,684ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:43Z [30,684ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:43Z [30,879ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:43Z [30,879ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:43Z [30,884ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:43Z [30,884ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:43Z [30,889ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T00:40:43Z [30,889ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T00:40:44Z [31,675ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-02T00:40:48Z [35,524ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-02T00:41:00Z [48,001ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-02T00:41:02Z [49,673ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-02T00:41:17Z [64,775ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-02T00:41:17Z [64,778ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-02T00:41:18Z [65,432ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-02T00:41:23Z [70,501ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T00:41:23Z [70,502ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T00:41:23Z [70,504ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T00:41:23Z [70,515ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-02T00:41:23Z [70,543ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T00:41:23Z [70,543ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-02T00:41:38Z [85,907ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55f472cd9520>)
+
+2026-11-02T00:41:38Z [85,908ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55f472cd9520>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T00:41:45Z [92,528ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.363796 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T00:41:52Z [99,220ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T00:41:52Z [99,220ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T00:41:52Z [99,254ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T00:41:52Z [99,254ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T00:41:52Z [99,262ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T00:41:52Z [99,269ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T00:41:52Z [99,577ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T00:41:52Z [99,603ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T00:41:57Z [104,851ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,852ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,890ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((68))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,890ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((68))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,935ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-11-02T00:41:57Z [104,935ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,050ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,051ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,051ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,083ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,083ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,094ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,094ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,094ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,155ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,155ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-02T00:41:58Z [105,155ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-02T00:41:59Z [106,267ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-02T00:41:59Z [106,268ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-02T00:41:59Z [106,423ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-02T00:41:59Z [106,424ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-02T00:41:59Z [106,424ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,101ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((190))' not available in the MDL representation.
+2026-11-02T00:42:00Z [107,101ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((190))' not available in the MDL representation.
+2026-11-02T00:42:01Z [108,393ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((231))' not available in the MDL representation.
+2026-11-02T00:42:01Z [108,393ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((231))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,399ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-02T00:42:02Z [109,822ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,822ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,826ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,826ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,826ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,828ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,828ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,829ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,829ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,829ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,831ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,831ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,831ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,833ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,833ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,835ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,835ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-02T00:42:02Z [109,835ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.109840 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SmallPumpkinInBinTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the small pumpkin in the bin              │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SmallPumpkinInBinTaskSceneEnvCfg              │
+│  Attributes  : size, simple                                  │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SmallPumpkinInBinTask_0: 'Put the small pumpkin in the bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:38<9:42:30, 38.88s/it]
  0%|          | 2/900 [00:39<4:05:47, 16.42s/it]
  0%|          | 3/900 [00:40<2:18:21,  9.25s/it]
  0%|          | 4/900 [00:41<1:28:03,  5.90s/it]
  1%|          | 5/900 [00:41<59:59,  4.02s/it]  
  1%|          | 6/900 [00:42<43:03,  2.89s/it]
  1%|          | 7/900 [00:43<32:32,  2.19s/it]
  1%|          | 8/900 [00:43<25:30,  1.72s/it]
  1%|          | 9/900 [01:00<1:34:48,  6.38s/it]
  1%|          | 10/900 [01:01<1:08:56,  4.65s/it]
  1%|          | 11/900 [01:02<51:03,  3.45s/it]  
  1%|▏         | 12/900 [01:02<38:48,  2.62s/it]
  1%|▏         | 13/900 [01:03<30:19,  2.05s/it]
  2%|▏         | 14/900 [01:04<24:15,  1.64s/it]
  2%|▏         | 15/900 [01:04<20:01,  1.36s/it]
  2%|▏         | 16/900 [01:05<17:06,  1.16s/it]
  2%|▏         | 17/900 [01:25<1:41:44,  6.91s/it]
  2%|▏         | 18/900 [01:26<1:14:09,  5.04s/it]
  2%|▏         | 19/900 [01:27<54:57,  3.74s/it]  
  2%|▏         | 20/900 [01:28<41:34,  2.83s/it]
  2%|▏         | 21/900 [01:28<32:08,  2.19s/it]
  2%|▏         | 22/900 [01:29<25:32,  1.75s/it]
  3%|▎         | 23/900 [01:30<20:56,  1.43s/it]
  3%|▎         | 24/900 [01:30<17:43,  1.21s/it]
  3%|▎         | 25/900 [01:52<1:45:51,  7.26s/it]
  3%|▎         | 26/900 [01:52<1:17:05,  5.29s/it]
  3%|▎         | 27/900 [01:53<56:55,  3.91s/it]  
  3%|▎         | 28/900 [01:54<42:46,  2.94s/it]
  3%|▎         | 29/900 [01:54<32:54,  2.27s/it]
  3%|▎         | 30/900 [01:55<26:00,  1.79s/it]
  3%|▎         | 31/900 [01:56<21:14,  1.47s/it]
  4%|▎         | 32/900 [01:57<17:48,  1.23s/it]
  4%|▎         | 33/900 [02:28<2:30:19, 10.40s/it]
  4%|▍         | 34/900 [02:29<1:48:10,  7.49s/it]
  4%|▍         | 35/900 [02:30<1:18:39,  5.46s/it]
  4%|▍         | 36/900 [02:30<58:00,  4.03s/it]  
  4%|▍         | 37/900 [02:31<43:37,  3.03s/it]
  4%|▍         | 38/900 [02:32<33:31,  2.33s/it]
  4%|▍         | 39/900 [02:33<26:26,  1.84s/it]
  4%|▍         | 40/900 [02:33<21:30,  1.50s/it]
  5%|▍         | 41/900 [03:12<3:03:22, 12.81s/it]
  5%|▍         | 42/900 [03:13<2:11:15,  9.18s/it]
  5%|▍         | 43/900 [03:14<1:34:47,  6.64s/it]
  5%|▍         | 44/900 [03:15<1:09:16,  4.86s/it]
  5%|▌         | 45/900 [03:15<51:25,  3.61s/it]  
  5%|▌         | 46/900 [03:16<38:56,  2.74s/it]
  5%|▌         | 47/900 [03:17<30:14,  2.13s/it]
  5%|▌         | 48/900 [03:17<24:07,  1.70s/it]
  5%|▌         | 49/900 [03:37<1:40:18,  7.07s/it]
  6%|▌         | 50/900 [03:38<1:13:06,  5.16s/it]
  6%|▌         | 51/900 [03:38<54:05,  3.82s/it]  
  6%|▌         | 52/900 [03:39<40:46,  2.89s/it]
  6%|▌         | 53/900 [03:40<31:28,  2.23s/it]
  6%|▌         | 54/900 [03:40<24:57,  1.77s/it]
  6%|▌         | 55/900 [03:41<20:23,  1.45s/it]2026-11-02T00:45:47Z [334,100ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  6%|▌         | 56/900 [03:42<17:17,  1.23s/it]
  6%|▋         | 57/900 [04:06<1:55:07,  8.19s/it]
  6%|▋         | 58/900 [04:07<1:23:27,  5.95s/it]
  7%|▋         | 59/900 [04:08<1:01:16,  4.37s/it]
  7%|▋         | 60/900 [04:08<45:48,  3.27s/it]  
  7%|▋         | 61/900 [04:09<34:58,  2.50s/it]
  7%|▋         | 62/900 [04:10<27:21,  1.96s/it]
  7%|▋         | 63/900 [04:11<22:02,  1.58s/it]
  7%|▋         | 64/900 [04:11<18:21,  1.32s/it]
  7%|▋         | 65/900 [06:07<8:15:35, 35.61s/it]
  7%|▋         | 66/900 [06:08<5:49:41, 25.16s/it]
  7%|▋         | 67/900 [06:08<4:07:37, 17.84s/it]
  8%|▊         | 68/900 [06:09<2:56:08, 12.70s/it]
  8%|▊         | 69/900 [06:10<2:06:09,  9.11s/it]
  8%|▊         | 70/900 [06:11<1:31:12,  6.59s/it]
  8%|▊         | 71/900 [06:11<1:06:47,  4.83s/it]
  8%|▊         | 72/900 [06:12<49:41,  3.60s/it]  
  8%|▊         | 73/900 [06:31<1:54:54,  8.34s/it]
  8%|▊         | 74/900 [06:32<1:23:26,  6.06s/it]
  8%|▊         | 75/900 [06:33<1:01:23,  4.46s/it]
  8%|▊         | 76/900 [06:34<45:56,  3.35s/it]  
  9%|▊         | 77/900 [06:34<35:13,  2.57s/it]
  9%|▊         | 78/900 [06:35<27:39,  2.02s/it]
  9%|▉         | 79/900 [06:36<22:20,  1.63s/it]
  9%|▉         | 80/900 [06:37<18:33,  1.36s/it]
  9%|▉         | 81/900 [07:03<2:00:01,  8.79s/it]
  9%|▉         | 82/900 [07:03<1:26:47,  6.37s/it]
  9%|▉         | 83/900 [07:04<1:03:33,  4.67s/it]
  9%|▉         | 84/900 [07:05<47:25,  3.49s/it]  
  9%|▉         | 85/900 [07:06<36:10,  2.66s/it]
 10%|▉         | 86/900 [07:06<28:11,  2.08s/it]
 10%|▉         | 87/900 [07:07<22:32,  1.66s/it]
 10%|▉         | 88/900 [07:08<18:41,  1.38s/it]
 10%|▉         | 89/900 [07:21<1:07:38,  5.00s/it]
 10%|█         | 90/900 [07:22<50:15,  3.72s/it]  
 10%|█         | 91/900 [07:23<38:10,  2.83s/it]
 10%|█         | 92/900 [07:23<29:41,  2.20s/it]
 10%|█         | 93/900 [07:24<23:50,  1.77s/it]
 10%|█         | 94/900 [07:25<19:38,  1.46s/it]
 11%|█         | 95/900 [07:26<16:40,  1.24s/it]
 11%|█         | 96/900 [07:26<14:36,  1.09s/it]
 11%|█         | 97/900 [08:11<3:10:26, 14.23s/it]
 11%|█         | 98/900 [08:12<2:16:08, 10.18s/it]
 11%|█         | 99/900 [08:13<1:38:07,  7.35s/it]
 11%|█         | 100/900 [08:13<1:11:34,  5.37s/it]
 11%|█         | 101/900 [08:14<52:59,  3.98s/it]  
 11%|█▏        | 102/900 [08:15<40:04,  3.01s/it]
 11%|█▏        | 103/900 [08:16<30:58,  2.33s/it]
 12%|█▏        | 104/900 [08:16<24:38,  1.86s/it]
 12%|█▏        | 105/900 [09:00<3:08:57, 14.26s/it]
 12%|█▏        | 106/900 [09:00<2:15:05, 10.21s/it]
 12%|█▏        | 107/900 [09:01<1:37:29,  7.38s/it]
 12%|█▏        | 108/900 [09:02<1:11:10,  5.39s/it]
 12%|█▏        | 109/900 [09:03<52:40,  4.00s/it]  
 12%|█▏        | 110/900 [09:03<39:43,  3.02s/it]
 12%|█▏        | 111/900 [09:04<30:40,  2.33s/it]
 12%|█▏        | 112/900 [09:05<24:24,  1.86s/it]
 13%|█▎        | 113/900 [10:10<4:35:06, 20.97s/it]
 13%|█▎        | 114/900 [10:11<3:15:16, 14.91s/it]
 13%|█▎        | 115/900 [10:12<2:19:25, 10.66s/it]
 13%|█▎        | 116/900 [10:13<1:40:24,  7.68s/it]
 13%|█▎        | 117/900 [10:13<1:13:05,  5.60s/it]
 13%|█▎        | 118/900 [10:14<54:00,  4.14s/it]  
 13%|█▎        | 119/900 [10:15<40:39,  3.12s/it]
 13%|█▎        | 120/900 [10:16<31:18,  2.41s/it]
 13%|█▎        | 121/900 [13:59<14:52:52, 68.77s/it]
 14%|█▎        | 122/900 [14:00<10:27:04, 48.36s/it]
 14%|█▎        | 123/900 [14:01<7:21:16, 34.08s/it] 
 14%|█▍        | 124/900 [14:02<5:11:21, 24.07s/it]
 14%|█▍        | 125/900 [14:02<3:40:26, 17.07s/it]
 14%|█▍        | 126/900 [14:03<2:36:55, 12.16s/it]
 14%|█▍        | 127/900 [14:04<1:52:28,  8.73s/it]
 14%|█▍        | 128/900 [14:04<1:21:26,  6.33s/it]
 14%|█▍        | 129/900 [15:01<4:36:37, 21.53s/it]
 14%|█▍        | 130/900 [15:02<3:16:15, 15.29s/it]
 15%|█▍        | 131/900 [15:03<2:20:00, 10.92s/it]
 15%|█▍        | 132/900 [15:04<1:40:43,  7.87s/it]
 15%|█▍        | 133/900 [15:04<1:13:13,  5.73s/it]
 15%|█▍        | 134/900 [15:05<53:58,  4.23s/it]  
 15%|█▌        | 135/900 [15:06<40:29,  3.18s/it]
 15%|█▌        | 136/900 [15:07<31:08,  2.45s/it]
 15%|█▌        | 137/900 [15:38<2:21:24, 11.12s/it]
 15%|█▌        | 138/900 [15:39<1:41:38,  8.00s/it]
 15%|█▌        | 139/900 [15:39<1:13:49,  5.82s/it]
 16%|█▌        | 140/900 [15:40<54:23,  4.29s/it]  
 16%|█▌        | 141/900 [15:41<40:50,  3.23s/it]
 16%|█▌        | 142/900 [15:42<31:18,  2.48s/it]
 16%|█▌        | 143/900 [15:42<24:30,  1.94s/it]
 16%|█▌        | 144/900 [15:43<19:46,  1.57s/it]
 16%|█▌        | 145/900 [16:23<2:43:53, 13.02s/it]
 16%|█▌        | 146/900 [16:23<1:57:16,  9.33s/it]
 16%|█▋        | 147/900 [16:24<1:24:36,  6.74s/it]
 16%|█▋        | 148/900 [16:25<1:01:45,  4.93s/it]
 17%|█▋        | 149/900 [16:26<45:53,  3.67s/it]  
 17%|█▋        | 150/900 [16:26<34:45,  2.78s/it]
 17%|█▋        | 151/900 [16:27<26:56,  2.16s/it]
 17%|█▋        | 152/900 [16:28<21:38,  1.74s/it]
 17%|█▋        | 153/900 [16:46<1:23:01,  6.67s/it]
 17%|█▋        | 154/900 [16:47<1:00:37,  4.88s/it]
 17%|█▋        | 155/900 [16:47<45:03,  3.63s/it]  
 17%|█▋        | 156/900 [16:48<34:05,  2.75s/it]
 17%|█▋        | 157/900 [16:49<26:26,  2.14s/it]
 18%|█▊        | 158/900 [16:49<21:05,  1.70s/it]
 18%|█▊        | 159/900 [16:50<17:26,  1.41s/it]
 18%|█▊        | 160/900 [16:51<14:59,  1.22s/it]
 18%|█▊        | 161/900 [17:20<1:59:02,  9.66s/it]
 18%|█▊        | 162/900 [17:21<1:25:54,  6.98s/it]
 18%|█▊        | 163/900 [17:22<1:02:49,  5.12s/it]
 18%|█▊        | 164/900 [17:22<46:32,  3.79s/it]  
 18%|█▊        | 165/900 [17:23<35:07,  2.87s/it]
 18%|█▊        | 166/900 [17:24<27:08,  2.22s/it]
 19%|█▊        | 167/900 [17:25<21:40,  1.77s/it]
 19%|█▊        | 168/900 [17:25<17:50,  1.46s/it]
 19%|█▉        | 169/900 [18:34<4:24:58, 21.75s/it]
 19%|█▉        | 170/900 [18:35<3:07:57, 15.45s/it]
 19%|█▉        | 171/900 [18:36<2:14:11, 11.05s/it]
 19%|█▉        | 172/900 [18:37<1:36:48,  7.98s/it]
 19%|█▉        | 173/900 [18:38<1:10:26,  5.81s/it]
 19%|█▉        | 174/900 [18:38<52:00,  4.30s/it]  
 19%|█▉        | 175/900 [18:39<39:02,  3.23s/it]
 20%|█▉        | 176/900 [18:40<29:55,  2.48s/it]
 20%|█▉        | 177/900 [19:52<4:42:33, 23.45s/it]
 20%|█▉        | 178/900 [19:53<3:20:12, 16.64s/it]
 20%|█▉        | 179/900 [19:54<2:22:33, 11.86s/it]
 20%|██        | 180/900 [19:54<1:42:15,  8.52s/it]
 20%|██        | 181/900 [19:55<1:14:06,  6.18s/it]
 20%|██        | 182/900 [19:56<54:20,  4.54s/it]  
 20%|██        | 183/900 [19:56<40:31,  3.39s/it]
 20%|██        | 184/900 [19:57<30:50,  2.58s/it]
 21%|██        | 185/900 [20:52<3:37:29, 18.25s/it]
 21%|██        | 186/900 [20:53<2:34:28, 12.98s/it]
 21%|██        | 187/900 [20:53<1:50:28,  9.30s/it]
 21%|██        | 188/900 [20:54<1:19:41,  6.72s/it]
 21%|██        | 189/900 [20:55<58:16,  4.92s/it]  
 21%|██        | 190/900 [20:55<43:13,  3.65s/it]
 21%|██        | 191/900 [20:56<32:40,  2.77s/it]
 21%|██▏       | 192/900 [20:57<25:18,  2.14s/it]
 21%|██▏       | 193/900 [21:51<3:29:49, 17.81s/it]
 22%|██▏       | 194/900 [21:52<2:29:09, 12.68s/it]
 22%|██▏       | 195/900 [21:53<1:46:47,  9.09s/it]
 22%|██▏       | 196/900 [21:53<1:17:09,  6.58s/it]
 22%|██▏       | 197/900 [21:54<56:23,  4.81s/it]  
 22%|██▏       | 198/900 [21:55<41:53,  3.58s/it]
 22%|██▏       | 199/900 [21:55<31:47,  2.72s/it]
 22%|██▏       | 200/900 [21:56<24:39,  2.11s/it]
 22%|██▏       | 201/900 [24:51<10:26:50, 53.81s/it]
 22%|██▏       | 202/900 [24:51<7:20:38, 37.88s/it] 
 23%|██▎       | 203/900 [24:52<5:10:30, 26.73s/it]
 23%|██▎       | 204/900 [24:53<3:39:30, 18.92s/it]
 23%|██▎       | 205/900 [24:53<2:35:51, 13.45s/it]
 23%|██▎       | 206/900 [24:54<1:51:34,  9.65s/it]
 23%|██▎       | 207/900 [24:55<1:20:35,  6.98s/it]
 23%|██▎       | 208/900 [24:56<58:42,  5.09s/it]  
 23%|██▎       | 209/900 [25:35<2:55:35, 15.25s/it]
 23%|██▎       | 210/900 [25:35<2:05:14, 10.89s/it]
 23%|██▎       | 211/900 [25:36<1:30:08,  7.85s/it]
 24%|██▎       | 212/900 [25:37<1:05:47,  5.74s/it]
 24%|██▎       | 213/900 [25:38<48:48,  4.26s/it]  
 24%|██▍       | 214/900 [25:38<36:52,  3.22s/it]
 24%|██▍       | 215/900 [25:39<28:28,  2.49s/it]
 24%|██▍       | 216/900 [25:40<22:25,  1.97s/it]
 24%|██▍       | 217/900 [28:56<11:25:38, 60.23s/it]
 24%|██▍       | 218/900 [28:57<8:01:51, 42.39s/it] 
 24%|██▍       | 219/900 [28:58<5:39:28, 29.91s/it]
 24%|██▍       | 220/900 [28:59<3:59:56, 21.17s/it]
 25%|██▍       | 221/900 [28:59<2:50:18, 15.05s/it]
 25%|██▍       | 222/900 [29:00<2:01:34, 10.76s/it]
 25%|██▍       | 223/900 [29:01<1:27:32,  7.76s/it]
 25%|██▍       | 224/900 [29:02<1:03:43,  5.66s/it]
 25%|██▌       | 225/900 [29:42<3:01:18, 16.12s/it]
 25%|██▌       | 226/900 [29:43<2:09:19, 11.51s/it]
 25%|██▌       | 227/900 [29:44<1:32:55,  8.28s/it]
 25%|██▌       | 228/900 [29:44<1:07:35,  6.03s/it]
 25%|██▌       | 229/900 [29:45<49:58,  4.47s/it]  
 26%|██▌       | 230/900 [29:46<37:24,  3.35s/it]
 26%|██▌       | 231/900 [29:47<28:37,  2.57s/it]
 26%|██▌       | 232/900 [29:47<22:29,  2.02s/it]
 26%|██▌       | 233/900 [36:02<21:06:12, 113.90s/it]
 26%|██▌       | 234/900 [36:03<14:47:28, 79.95s/it] 
 26%|██▌       | 235/900 [36:04<10:22:44, 56.19s/it]
 26%|██▌       | 236/900 [36:05<7:17:41, 39.55s/it] 
 26%|██▋       | 237/900 [36:05<5:08:22, 27.91s/it]
 26%|██▋       | 238/900 [36:06<3:38:01, 19.76s/it]
 27%|██▋       | 239/900 [36:07<2:34:53, 14.06s/it]
 27%|██▋       | 240/900 [36:08<1:50:43, 10.07s/it]
 27%|██▋       | 241/900 [37:38<6:14:28, 34.09s/it]
 27%|██▋       | 242/900 [37:39<4:24:15, 24.10s/it]
 27%|██▋       | 243/900 [37:39<3:07:07, 17.09s/it]
 27%|██▋       | 244/900 [37:40<2:13:14, 12.19s/it]
 27%|██▋       | 245/900 [37:41<1:35:35,  8.76s/it]
 27%|██▋       | 246/900 [37:41<1:09:15,  6.35s/it]
 27%|██▋       | 247/900 [37:42<50:50,  4.67s/it]  
 28%|██▊       | 248/900 [37:43<37:58,  3.49s/it]
 28%|██▊       | 249/900 [40:36<9:48:50, 54.27s/it]
 28%|██▊       | 250/900 [40:36<6:53:59, 38.22s/it]
 28%|██▊       | 251/900 [40:37<4:51:46, 26.97s/it]
 28%|██▊       | 252/900 [40:38<3:26:18, 19.10s/it]
 28%|██▊       | 253/900 [40:39<2:26:37, 13.60s/it]
 28%|██▊       | 254/900 [40:39<1:44:52,  9.74s/it]
 28%|██▊       | 255/900 [40:40<1:15:40,  7.04s/it]
 28%|██▊       | 256/900 [40:41<55:18,  5.15s/it]  
 29%|██▊       | 257/900 [42:12<5:29:54, 30.78s/it]
 29%|██▊       | 258/900 [42:12<3:52:59, 21.78s/it]
 29%|██▉       | 259/900 [42:13<2:45:17, 15.47s/it]
 29%|██▉       | 260/900 [42:14<1:57:54, 11.05s/it]
 29%|██▉       | 261/900 [42:15<1:24:50,  7.97s/it]
 29%|██▉       | 262/900 [42:15<1:01:42,  5.80s/it]
 29%|██▉       | 263/900 [42:16<45:29,  4.28s/it]  
 29%|██▉       | 264/900 [42:17<34:09,  3.22s/it]
 29%|██▉       | 265/900 [42:46<1:55:29, 10.91s/it]
 30%|██▉       | 266/900 [42:46<1:23:04,  7.86s/it]
 30%|██▉       | 267/900 [42:47<1:00:27,  5.73s/it]
 30%|██▉       | 268/900 [42:48<44:35,  4.23s/it]  
 30%|██▉       | 269/900 [42:49<33:33,  3.19s/it]
 30%|███       | 270/900 [42:49<25:46,  2.45s/it]
 30%|███       | 271/900 [42:50<20:19,  1.94s/it]
 30%|███       | 272/900 [42:51<16:32,  1.58s/it]
 30%|███       | 273/900 [44:13<4:28:31, 25.70s/it]
 30%|███       | 274/900 [44:14<3:10:03, 18.22s/it]
 31%|███       | 275/900 [44:14<2:15:09, 12.98s/it]
 31%|███       | 276/900 [44:15<1:36:45,  9.30s/it]
 31%|███       | 277/900 [44:16<1:09:59,  6.74s/it]
 31%|███       | 278/900 [44:17<51:15,  4.94s/it]  
 31%|███       | 279/900 [44:17<38:05,  3.68s/it]
 31%|███       | 280/900 [44:18<28:53,  2.80s/it]
 31%|███       | 281/900 [44:52<2:04:15, 12.04s/it]
 31%|███▏      | 282/900 [44:52<1:29:06,  8.65s/it]
 31%|███▏      | 283/900 [44:53<1:04:32,  6.28s/it]
 32%|███▏      | 284/900 [44:54<47:22,  4.62s/it]  
 32%|███▏      | 285/900 [44:55<35:23,  3.45s/it]
 32%|███▏      | 286/900 [44:55<27:04,  2.64s/it]
 32%|███▏      | 287/900 [44:56<21:11,  2.07s/it]
 32%|███▏      | 288/900 [44:57<17:07,  1.68s/it]
 32%|███▏      | 288/900 [45:49<1:37:22,  9.55s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json.
+SmallPumpkinInBinTask_0 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: True, episode_step: 289, duration: 19.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.917470001389783, 'joint_sparc_mean': -7.1731516064562095, 'ee_isj': 1861.9592613605596, 'joint_isj': 31542.806496238372, 'ee_path_length': 2.330209052514948, 'joint_rmse_mean': 1.0728067977484863, 'ee_speed_max': 0.9913322925567627, 'ee_speed_mean': 0.11565230041742325}, events: {'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 7, 'GRIPPER_FULLY_CLOSED': 2}, instruction_type: default, timing: {'policy_inference_s': 2545.224, 'policy_inference_avg_ms': 8807.0, 'env_step_s': 201.251, 'env_step_avg_ms': 696.4, 'video_write_s': 2.612, 'video_write_avg_ms': 9.0, 'wall_total_s': 2749.086, 'it_per_sec': 0.11}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: e23c5be31612464dba052bb33e4a9a0d-0
+[RoboLab] Running SmallPumpkinInBinTask_1: 'Put the small pumpkin in the bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:10<17:28:52, 70.00s/it]
  0%|          | 2/900 [01:10<7:17:43, 29.25s/it] 
  0%|          | 3/900 [01:11<4:02:40, 16.23s/it]
  0%|          | 4/900 [01:12<2:30:58, 10.11s/it]
  1%|          | 5/900 [01:12<1:40:13,  6.72s/it]
  1%|          | 6/900 [01:13<1:09:36,  4.67s/it]
  1%|          | 7/900 [01:14<50:15,  3.38s/it]  
  1%|          | 8/900 [01:15<37:33,  2.53s/it]
  1%|          | 9/900 [01:27<1:23:53,  5.65s/it]
  1%|          | 10/900 [01:28<1:01:11,  4.13s/it]
  1%|          | 11/900 [01:28<45:40,  3.08s/it]  
  1%|▏         | 12/900 [01:29<34:55,  2.36s/it]
  1%|▏         | 13/900 [01:30<27:29,  1.86s/it]
  2%|▏         | 14/900 [01:31<22:16,  1.51s/it]
  2%|▏         | 15/900 [01:31<18:39,  1.26s/it]
  2%|▏         | 16/900 [01:32<16:11,  1.10s/it]
  2%|▏         | 17/900 [01:57<2:02:32,  8.33s/it]
  2%|▏         | 18/900 [01:58<1:28:45,  6.04s/it]
  2%|▏         | 19/900 [01:59<1:05:12,  4.44s/it]
  2%|▏         | 20/900 [01:59<48:38,  3.32s/it]  
  2%|▏         | 21/900 [02:00<37:05,  2.53s/it]
  2%|▏         | 22/900 [02:01<29:03,  1.99s/it]
  3%|▎         | 23/900 [02:01<23:22,  1.60s/it]
  3%|▎         | 24/900 [02:02<19:25,  1.33s/it]
  3%|▎         | 25/900 [02:20<1:33:58,  6.44s/it]
  3%|▎         | 26/900 [02:21<1:08:51,  4.73s/it]
  3%|▎         | 27/900 [02:22<51:11,  3.52s/it]  
  3%|▎         | 28/900 [02:23<38:49,  2.67s/it]
  3%|▎         | 29/900 [02:23<30:11,  2.08s/it]
  3%|▎         | 30/900 [02:24<24:07,  1.66s/it]
  3%|▎         | 31/900 [02:25<19:50,  1.37s/it]
  4%|▎         | 32/900 [02:25<16:52,  1.17s/it]
  4%|▎         | 33/900 [03:53<6:33:13, 27.21s/it]
  4%|▍         | 34/900 [03:54<4:37:55, 19.26s/it]
  4%|▍         | 35/900 [03:55<3:17:20, 13.69s/it]
  4%|▍         | 36/900 [03:55<2:20:59,  9.79s/it]
  4%|▍         | 37/900 [03:56<1:41:33,  7.06s/it]
  4%|▍         | 38/900 [03:57<1:14:05,  5.16s/it]
  4%|▍         | 39/900 [03:58<54:55,  3.83s/it]  
  4%|▍         | 40/900 [03:58<41:26,  2.89s/it]
  5%|▍         | 41/900 [04:52<4:20:39, 18.21s/it]
  5%|▍         | 42/900 [04:53<3:05:16, 12.96s/it]
  5%|▍         | 43/900 [04:54<2:12:38,  9.29s/it]
  5%|▍         | 44/900 [04:54<1:35:54,  6.72s/it]
  5%|▌         | 45/900 [04:55<1:10:17,  4.93s/it]
  5%|▌         | 46/900 [04:56<52:15,  3.67s/it]  
  5%|▌         | 47/900 [04:57<39:38,  2.79s/it]
  5%|▌         | 48/900 [04:57<30:48,  2.17s/it]
  5%|▌         | 49/900 [05:28<2:30:18, 10.60s/it]
  6%|▌         | 50/900 [05:28<1:48:08,  7.63s/it]
  6%|▌         | 51/900 [05:29<1:18:42,  5.56s/it]
  6%|▌         | 52/900 [05:30<58:06,  4.11s/it]  
  6%|▌         | 53/900 [05:30<43:40,  3.09s/it]
  6%|▌         | 54/900 [05:31<33:36,  2.38s/it]
  6%|▌         | 55/900 [05:32<26:31,  1.88s/it]
  6%|▌         | 56/900 [05:33<21:36,  1.54s/it]
  6%|▋         | 57/900 [06:47<5:29:48, 23.47s/it]
  6%|▋         | 58/900 [06:48<3:53:36, 16.65s/it]
  7%|▋         | 59/900 [06:49<2:46:20, 11.87s/it]
  7%|▋         | 60/900 [06:49<1:59:20,  8.52s/it]
  7%|▋         | 61/900 [06:50<1:26:30,  6.19s/it]
  7%|▋         | 62/900 [06:51<1:03:32,  4.55s/it]
  7%|▋         | 63/900 [06:52<47:26,  3.40s/it]  
  7%|▋         | 64/900 [06:52<36:12,  2.60s/it]
  7%|▋         | 65/900 [07:08<1:30:54,  6.53s/it]
  7%|▋         | 66/900 [07:09<1:06:36,  4.79s/it]
  7%|▋         | 67/900 [07:09<49:35,  3.57s/it]  
  8%|▊         | 68/900 [07:10<37:44,  2.72s/it]
  8%|▊         | 69/900 [07:11<29:23,  2.12s/it]
  8%|▊         | 70/900 [07:12<23:36,  1.71s/it]
  8%|▊         | 71/900 [07:12<19:34,  1.42s/it]
  8%|▊         | 72/900 [07:13<16:52,  1.22s/it]
  8%|▊         | 73/900 [08:18<4:41:10, 20.40s/it]
  8%|▊         | 74/900 [08:19<3:19:37, 14.50s/it]
  8%|▊         | 75/900 [08:20<2:22:36, 10.37s/it]
  8%|▊         | 76/900 [08:21<1:42:46,  7.48s/it]
  9%|▊         | 77/900 [08:21<1:14:52,  5.46s/it]
  9%|▊         | 78/900 [08:22<55:21,  4.04s/it]  
  9%|▉         | 79/900 [08:23<41:44,  3.05s/it]
  9%|▉         | 80/900 [08:24<32:10,  2.35s/it]
  9%|▉         | 81/900 [08:43<1:43:35,  7.59s/it]
  9%|▉         | 82/900 [08:44<1:15:26,  5.53s/it]
  9%|▉         | 83/900 [08:45<55:46,  4.10s/it]  
  9%|▉         | 84/900 [08:46<42:01,  3.09s/it]
  9%|▉         | 85/900 [08:46<32:20,  2.38s/it]
 10%|▉         | 86/900 [08:47<25:33,  1.88s/it]
 10%|▉         | 87/900 [08:48<20:47,  1.53s/it]
 10%|▉         | 88/900 [08:48<17:28,  1.29s/it]
 10%|▉         | 89/900 [09:05<1:20:21,  5.95s/it]
 10%|█         | 90/900 [09:06<59:15,  4.39s/it]  
 10%|█         | 91/900 [09:07<44:28,  3.30s/it]
 10%|█         | 92/900 [09:07<34:07,  2.53s/it]
 10%|█         | 93/900 [09:08<26:58,  2.01s/it]
 10%|█         | 94/900 [09:09<21:50,  1.63s/it]
 11%|█         | 95/900 [09:10<18:21,  1.37s/it]
 11%|█         | 96/900 [09:10<15:43,  1.17s/it]
 11%|█         | 97/900 [09:30<1:29:40,  6.70s/it]
 11%|█         | 98/900 [09:31<1:05:31,  4.90s/it]
 11%|█         | 99/900 [09:31<48:35,  3.64s/it]  
 11%|█         | 100/900 [09:32<36:49,  2.76s/it]
 11%|█         | 101/900 [09:33<28:37,  2.15s/it]
 11%|█▏        | 102/900 [09:34<22:56,  1.72s/it]
 11%|█▏        | 103/900 [09:34<18:52,  1.42s/it]
 12%|█▏        | 104/900 [09:35<16:02,  1.21s/it]
 12%|█▏        | 105/900 [11:05<6:08:12, 27.79s/it]
 12%|█▏        | 106/900 [11:06<4:20:11, 19.66s/it]
 12%|█▏        | 107/900 [11:06<3:04:42, 13.98s/it]
 12%|█▏        | 108/900 [11:07<2:12:03, 10.00s/it]
 12%|█▏        | 109/900 [11:08<1:35:13,  7.22s/it]
 12%|█▏        | 110/900 [11:08<1:09:25,  5.27s/it]
 12%|█▏        | 111/900 [11:09<51:20,  3.90s/it]  
 12%|█▏        | 112/900 [11:10<38:38,  2.94s/it]
 13%|█▎        | 113/900 [11:51<3:07:47, 14.32s/it]
 13%|█▎        | 114/900 [11:51<2:13:59, 10.23s/it]
 13%|█▎        | 115/900 [11:52<1:36:29,  7.37s/it]
 13%|█▎        | 116/900 [11:53<1:10:12,  5.37s/it]
 13%|█▎        | 117/900 [11:54<51:53,  3.98s/it]  
 13%|█▎        | 118/900 [11:54<39:04,  3.00s/it]
 13%|█▎        | 119/900 [11:55<30:06,  2.31s/it]
 13%|█▎        | 120/900 [11:56<23:57,  1.84s/it]
 13%|█▎        | 121/900 [12:18<1:42:55,  7.93s/it]
 14%|█▎        | 122/900 [12:19<1:14:48,  5.77s/it]
 14%|█▎        | 123/900 [12:19<55:06,  4.26s/it]  
 14%|█▍        | 124/900 [12:20<41:20,  3.20s/it]
 14%|█▍        | 125/900 [12:21<31:41,  2.45s/it]
 14%|█▍        | 126/900 [12:22<25:04,  1.94s/it]
 14%|█▍        | 127/900 [12:22<20:25,  1.59s/it]
 14%|█▍        | 128/900 [12:23<17:06,  1.33s/it]
 14%|█▍        | 129/900 [13:01<2:38:45, 12.36s/it]
 14%|█▍        | 130/900 [13:02<1:53:46,  8.87s/it]
 15%|█▍        | 131/900 [13:03<1:22:23,  6.43s/it]
 15%|█▍        | 132/900 [13:03<1:00:22,  4.72s/it]
 15%|█▍        | 133/900 [13:04<45:03,  3.53s/it]  
 15%|█▍        | 134/900 [13:05<34:18,  2.69s/it]
 15%|█▌        | 135/900 [13:05<26:44,  2.10s/it]
 15%|█▌        | 136/900 [13:06<21:20,  1.68s/it]
 15%|█▌        | 137/900 [13:59<3:36:16, 17.01s/it]
 15%|█▌        | 138/900 [14:00<2:33:53, 12.12s/it]
 15%|█▌        | 139/900 [14:00<1:50:15,  8.69s/it]
 16%|█▌        | 140/900 [14:01<1:19:45,  6.30s/it]
 16%|█▌        | 141/900 [14:02<58:20,  4.61s/it]  
 16%|█▌        | 142/900 [14:02<43:25,  3.44s/it]
 16%|█▌        | 143/900 [14:03<32:59,  2.62s/it]
 16%|█▌        | 144/900 [14:04<25:44,  2.04s/it]
 16%|█▌        | 145/900 [14:30<1:58:18,  9.40s/it]
 16%|█▌        | 146/900 [14:31<1:25:25,  6.80s/it]
 16%|█▋        | 147/900 [14:32<1:02:26,  4.98s/it]
 16%|█▋        | 148/900 [14:33<46:13,  3.69s/it]  
 17%|█▋        | 149/900 [14:33<34:55,  2.79s/it]
 17%|█▋        | 150/900 [14:34<27:06,  2.17s/it]
 17%|█▋        | 151/900 [14:35<21:37,  1.73s/it]
 17%|█▋        | 152/900 [14:35<17:48,  1.43s/it]
 17%|█▋        | 153/900 [15:35<3:55:42, 18.93s/it]
 17%|█▋        | 154/900 [15:36<2:47:34, 13.48s/it]
 17%|█▋        | 155/900 [15:37<1:59:50,  9.65s/it]
 17%|█▋        | 156/900 [15:37<1:26:28,  6.97s/it]
 17%|█▋        | 157/900 [15:38<1:03:10,  5.10s/it]
 18%|█▊        | 158/900 [15:39<46:51,  3.79s/it]  
 18%|█▊        | 159/900 [15:40<35:27,  2.87s/it]
 18%|█▊        | 160/900 [15:40<27:32,  2.23s/it]
 18%|█▊        | 161/900 [16:56<4:58:14, 24.21s/it]
 18%|█▊        | 162/900 [16:57<3:31:12, 17.17s/it]
 18%|█▊        | 163/900 [16:57<2:30:18, 12.24s/it]
 18%|█▊        | 164/900 [16:58<1:47:45,  8.78s/it]
 18%|█▊        | 165/900 [16:59<1:18:12,  6.38s/it]
 18%|█▊        | 166/900 [17:00<57:22,  4.69s/it]  
 19%|█▊        | 167/900 [17:00<42:51,  3.51s/it]
 19%|█▊        | 168/900 [17:01<32:41,  2.68s/it]
 19%|█▉        | 169/900 [17:36<2:29:46, 12.29s/it]
 19%|█▉        | 170/900 [17:36<1:47:22,  8.83s/it]
 19%|█▉        | 171/900 [17:37<1:17:43,  6.40s/it]
 19%|█▉        | 172/900 [17:38<56:58,  4.70s/it]  
 19%|█▉        | 173/900 [17:39<42:25,  3.50s/it]
 19%|█▉        | 174/900 [17:39<32:17,  2.67s/it]
 19%|█▉        | 175/900 [17:40<25:13,  2.09s/it]
 20%|█▉        | 176/900 [17:41<20:14,  1.68s/it]
 20%|█▉        | 177/900 [18:29<3:07:23, 15.55s/it]
 20%|█▉        | 178/900 [18:29<2:13:36, 11.10s/it]
 20%|█▉        | 179/900 [18:30<1:36:01,  7.99s/it]
 20%|██        | 180/900 [18:31<1:09:51,  5.82s/it]
 20%|██        | 181/900 [18:32<51:27,  4.29s/it]  
 20%|██        | 182/900 [18:32<38:35,  3.22s/it]
 20%|██        | 183/900 [18:33<29:36,  2.48s/it]
 20%|██        | 184/900 [18:34<23:19,  1.95s/it]
 21%|██        | 185/900 [20:43<7:58:10, 40.13s/it]
 21%|██        | 186/900 [20:44<5:36:52, 28.31s/it]
 21%|██        | 187/900 [20:45<3:58:03, 20.03s/it]
 21%|██        | 188/900 [20:45<2:49:01, 14.24s/it]
 21%|██        | 189/900 [20:46<2:00:43, 10.19s/it]
 21%|██        | 190/900 [20:47<1:26:59,  7.35s/it]
 21%|██        | 191/900 [20:48<1:03:29,  5.37s/it]
 21%|██▏       | 192/900 [20:48<47:00,  3.98s/it]  
 21%|██▏       | 193/900 [23:13<9:04:28, 46.21s/it]
 22%|██▏       | 194/900 [23:14<6:23:10, 32.56s/it]
 22%|██▏       | 195/900 [23:14<4:30:17, 23.00s/it]
 22%|██▏       | 196/900 [23:15<3:11:26, 16.32s/it]
 22%|██▏       | 197/900 [23:16<2:16:16, 11.63s/it]
 22%|██▏       | 198/900 [23:17<1:37:45,  8.36s/it]
 22%|██▏       | 199/900 [23:17<1:10:54,  6.07s/it]
 22%|██▏       | 200/900 [23:18<52:03,  4.46s/it]  
 22%|██▏       | 201/900 [24:01<3:07:09, 16.06s/it]
 22%|██▏       | 202/900 [24:02<2:13:16, 11.46s/it]
 23%|██▎       | 203/900 [24:03<1:35:38,  8.23s/it]
 23%|██▎       | 204/900 [24:03<1:09:20,  5.98s/it]
 23%|██▎       | 205/900 [24:04<50:55,  4.40s/it]  
 23%|██▎       | 206/900 [24:05<38:12,  3.30s/it]
 23%|██▎       | 207/900 [24:05<29:09,  2.52s/it]
 23%|██▎       | 208/900 [24:06<22:47,  1.98s/it]
 23%|██▎       | 209/900 [25:37<5:30:16, 28.68s/it]
 23%|██▎       | 210/900 [25:38<3:53:15, 20.28s/it]
 23%|██▎       | 211/900 [25:38<2:45:25, 14.41s/it]
 24%|██▎       | 212/900 [25:39<1:58:03, 10.30s/it]
 24%|██▎       | 213/900 [25:40<1:24:54,  7.42s/it]
 24%|██▍       | 214/900 [25:41<1:01:44,  5.40s/it]
 24%|██▍       | 215/900 [25:41<45:34,  3.99s/it]  
 24%|██▍       | 216/900 [25:42<34:18,  3.01s/it]
 24%|██▍       | 217/900 [27:22<6:04:49, 32.05s/it]
 24%|██▍       | 218/900 [27:23<4:17:25, 22.65s/it]
 24%|██▍       | 219/900 [27:23<3:02:28, 16.08s/it]
 24%|██▍       | 220/900 [27:24<2:09:56, 11.47s/it]
 25%|██▍       | 221/900 [27:25<1:33:10,  8.23s/it]
 25%|██▍       | 222/900 [27:25<1:07:32,  5.98s/it]
 25%|██▍       | 223/900 [27:26<49:35,  4.40s/it]  
 25%|██▍       | 224/900 [27:27<37:03,  3.29s/it]
 25%|██▌       | 225/900 [28:46<4:53:41, 26.11s/it]
 25%|██▌       | 226/900 [28:47<3:27:39, 18.49s/it]
 25%|██▌       | 227/900 [28:48<2:27:28, 13.15s/it]
 25%|██▌       | 228/900 [28:48<1:45:23,  9.41s/it]
 25%|██▌       | 229/900 [28:49<1:15:58,  6.79s/it]
 26%|██▌       | 230/900 [28:50<55:25,  4.96s/it]  
 26%|██▌       | 231/900 [28:50<41:01,  3.68s/it]
 26%|██▌       | 232/900 [28:51<30:56,  2.78s/it]
 26%|██▌       | 233/900 [29:36<2:51:55, 15.46s/it]
 26%|██▌       | 234/900 [29:37<2:02:37, 11.05s/it]
 26%|██▌       | 235/900 [29:38<1:28:12,  7.96s/it]
 26%|██▌       | 236/900 [29:38<1:03:58,  5.78s/it]
 26%|██▋       | 237/900 [29:39<47:05,  4.26s/it]  
 26%|██▋       | 238/900 [29:40<35:14,  3.19s/it]
 27%|██▋       | 239/900 [29:40<26:56,  2.45s/it]
 27%|██▋       | 240/900 [29:41<21:08,  1.92s/it]
 27%|██▋       | 241/900 [30:51<4:05:05, 22.32s/it]
 27%|██▋       | 242/900 [30:52<2:53:38, 15.83s/it]
 27%|██▋       | 243/900 [30:52<2:03:39, 11.29s/it]
 27%|██▋       | 244/900 [30:53<1:28:49,  8.12s/it]
 27%|██▋       | 245/900 [30:54<1:04:28,  5.91s/it]
 27%|██▋       | 246/900 [30:55<47:29,  4.36s/it]  
 27%|██▋       | 247/900 [30:55<35:41,  3.28s/it]
 28%|██▊       | 248/900 [30:56<27:20,  2.52s/it]
 28%|██▊       | 249/900 [31:31<2:14:03, 12.36s/it]
 28%|██▊       | 250/900 [31:32<1:35:58,  8.86s/it]
 28%|██▊       | 251/900 [31:33<1:09:24,  6.42s/it]
 28%|██▊       | 252/900 [31:34<50:54,  4.71s/it]  
 28%|██▊       | 253/900 [31:34<37:54,  3.52s/it]
 28%|██▊       | 254/900 [31:35<28:52,  2.68s/it]
 28%|██▊       | 255/900 [31:36<22:35,  2.10s/it]
 28%|██▊       | 256/900 [31:36<18:04,  1.68s/it]
 29%|██▊       | 257/900 [32:12<2:08:13, 11.96s/it]
 29%|██▊       | 258/900 [32:13<1:31:59,  8.60s/it]
 29%|██▉       | 259/900 [32:14<1:06:36,  6.23s/it]
 29%|██▉       | 260/900 [32:15<48:55,  4.59s/it]  
 29%|██▉       | 261/900 [32:15<36:39,  3.44s/it]
 29%|██▉       | 262/900 [32:16<28:02,  2.64s/it]
 29%|██▉       | 263/900 [32:17<22:00,  2.07s/it]
 29%|██▉       | 264/900 [32:18<17:42,  1.67s/it]
 29%|██▉       | 265/900 [32:44<1:35:19,  9.01s/it]
 30%|██▉       | 266/900 [32:44<1:09:00,  6.53s/it]
 30%|██▉       | 267/900 [32:45<50:35,  4.79s/it]  
 30%|██▉       | 268/900 [32:46<37:40,  3.58s/it]
 30%|██▉       | 269/900 [32:47<28:40,  2.73s/it]
 30%|███       | 270/900 [32:47<22:24,  2.13s/it]
 30%|███       | 271/900 [32:48<18:01,  1.72s/it]
 30%|███       | 272/900 [32:49<14:58,  1.43s/it]
 30%|███       | 273/900 [32:50<14:12,  1.36s/it]
 30%|███       | 274/900 [32:51<12:18,  1.18s/it]
 31%|███       | 275/900 [32:52<10:53,  1.04s/it]
 31%|███       | 276/900 [32:52<09:55,  1.05it/s]
 31%|███       | 277/900 [32:53<09:14,  1.12it/s]
 31%|███       | 278/900 [32:54<08:47,  1.18it/s]
 31%|███       | 279/900 [32:55<08:33,  1.21it/s]
 31%|███       | 280/900 [32:55<08:19,  1.24it/s]
 31%|███       | 281/900 [33:32<1:59:46, 11.61s/it]
 31%|███▏      | 282/900 [33:33<1:25:56,  8.34s/it]
 31%|███▏      | 283/900 [33:34<1:02:20,  6.06s/it]
 32%|███▏      | 284/900 [33:34<45:48,  4.46s/it]  
 32%|███▏      | 285/900 [33:35<34:17,  3.35s/it]
 32%|███▏      | 286/900 [33:36<26:16,  2.57s/it]
 32%|███▏      | 287/900 [33:37<20:38,  2.02s/it]
 32%|███▏      | 288/900 [33:37<16:39,  1.63s/it]
 32%|███▏      | 289/900 [33:39<15:32,  1.53s/it]
 32%|███▏      | 290/900 [33:39<13:03,  1.29s/it]
 32%|███▏      | 291/900 [33:40<11:23,  1.12s/it]
 32%|███▏      | 292/900 [33:41<10:13,  1.01s/it]
 33%|███▎      | 293/900 [33:42<09:22,  1.08it/s]
 33%|███▎      | 294/900 [33:42<08:50,  1.14it/s]
 33%|███▎      | 295/900 [33:43<08:33,  1.18it/s]
 33%|███▎      | 296/900 [33:44<08:12,  1.23it/s]
 33%|███▎      | 297/900 [34:10<1:24:56,  8.45s/it]
 33%|███▎      | 298/900 [34:11<1:01:38,  6.14s/it]
 33%|███▎      | 299/900 [34:12<45:15,  4.52s/it]  
 33%|███▎      | 300/900 [34:12<33:50,  3.38s/it]
 33%|███▎      | 301/900 [34:13<25:52,  2.59s/it]
 34%|███▎      | 302/900 [34:14<20:17,  2.04s/it]
 34%|███▎      | 303/900 [34:15<16:21,  1.64s/it]
 34%|███▍      | 304/900 [34:15<13:37,  1.37s/it]
 34%|███▍      | 305/900 [34:17<13:05,  1.32s/it]
 34%|███▍      | 306/900 [34:17<11:22,  1.15s/it]
 34%|███▍      | 307/900 [34:18<10:06,  1.02s/it]
 34%|███▍      | 308/900 [34:19<09:14,  1.07it/s]
 34%|███▍      | 309/900 [34:19<08:37,  1.14it/s]
 34%|███▍      | 310/900 [34:20<08:14,  1.19it/s]
 35%|███▍      | 311/900 [34:21<07:58,  1.23it/s]
 35%|███▍      | 312/900 [34:22<07:48,  1.26it/s]
 35%|███▍      | 313/900 [34:47<1:18:55,  8.07s/it]
 35%|███▍      | 314/900 [34:48<57:19,  5.87s/it]  
 35%|███▌      | 315/900 [34:48<42:09,  4.32s/it]
 35%|███▌      | 316/900 [34:49<31:33,  3.24s/it]
 35%|███▌      | 317/900 [34:50<24:09,  2.49s/it]
 35%|███▌      | 318/900 [34:50<18:59,  1.96s/it]
 35%|███▌      | 319/900 [34:51<15:21,  1.59s/it]
 36%|███▌      | 320/900 [34:52<12:49,  1.33s/it]
 36%|███▌      | 321/900 [34:53<12:44,  1.32s/it]
 36%|███▌      | 322/900 [34:54<11:02,  1.15s/it]
 36%|███▌      | 323/900 [34:55<09:50,  1.02s/it]
 36%|███▌      | 324/900 [34:55<09:03,  1.06it/s]
 36%|███▌      | 325/900 [34:56<08:27,  1.13it/s]
 36%|███▌      | 326/900 [34:57<08:01,  1.19it/s]
 36%|███▋      | 327/900 [34:58<07:43,  1.24it/s]
 36%|███▋      | 328/900 [34:58<07:29,  1.27it/s]
 37%|███▋      | 329/900 [35:37<1:55:19, 12.12s/it]
 37%|███▋      | 330/900 [35:38<1:22:39,  8.70s/it]
 37%|███▋      | 331/900 [35:38<59:52,  6.31s/it]  
 37%|███▋      | 332/900 [35:39<43:54,  4.64s/it]
 37%|███▋      | 333/900 [35:40<32:49,  3.47s/it]
 37%|███▋      | 334/900 [35:41<25:02,  2.65s/it]
 37%|███▋      | 335/900 [35:41<19:34,  2.08s/it]
 37%|███▋      | 336/900 [35:42<15:44,  1.67s/it]
 37%|███▋      | 337/900 [35:46<21:56,  2.34s/it]
 38%|███▊      | 338/900 [35:47<17:26,  1.86s/it]
 38%|███▊      | 339/900 [35:47<14:15,  1.53s/it]
 38%|███▊      | 340/900 [35:48<12:02,  1.29s/it]
 38%|███▊      | 341/900 [35:49<10:28,  1.12s/it]
 38%|███▊      | 342/900 [35:50<09:24,  1.01s/it]
 38%|███▊      | 343/900 [35:50<08:34,  1.08it/s]
 38%|███▊      | 344/900 [35:51<08:08,  1.14it/s]
 38%|███▊      | 345/900 [43:47<22:07:17, 143.49s/it]
 38%|███▊      | 346/900 [43:48<15:29:29, 100.67s/it]
 39%|███▊      | 347/900 [43:49<10:51:30, 70.69s/it] 
 39%|███▊      | 348/900 [43:50<7:37:18, 49.71s/it] 
 39%|███▉      | 349/900 [43:50<5:21:31, 35.01s/it]
 39%|███▉      | 350/900 [43:51<3:46:38, 24.72s/it]
 39%|███▉      | 351/900 [43:52<2:40:21, 17.53s/it]
 39%|███▉      | 352/900 [43:53<1:54:02, 12.49s/it]
 39%|███▉      | 352/900 [44:22<1:09:05,  7.56s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json.
+SmallPumpkinInBinTask_1 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: True, episode_step: 353, duration: 23.53333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.049846833632696, 'joint_sparc_mean': -6.448738679591298, 'ee_isj': 2715.8995672394462, 'joint_isj': 23523.9659764053, 'ee_path_length': 3.4789938824525644, 'joint_rmse_mean': 0.938185188598198, 'ee_speed_max': 0.8153321743011475, 'ee_speed_mean': 0.14156144857406616}, events: {'OBJECT_BUMPED': 2, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 11, 'wrong_objects_grabbed': ['whitepackerbottle_a01']}, instruction_type: default, timing: {'policy_inference_s': 2416.313, 'policy_inference_avg_ms': 6845.1, 'env_step_s': 242.476, 'env_step_avg_ms': 686.9, 'video_write_s': 3.64, 'video_write_avg_ms': 10.3, 'wall_total_s': 2662.428, 'it_per_sec': 0.13}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 5770ba14f9e542c98efc7b1b6e89a126-1
+[RoboLab] Running SmallPumpkinInBinTask_2: 'Put the small pumpkin in the bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:36<24:06:43, 96.56s/it]
  0%|          | 2/900 [01:37<10:01:14, 40.17s/it]
  0%|          | 3/900 [01:37<5:31:09, 22.15s/it] 
  0%|          | 4/900 [01:38<3:24:20, 13.68s/it]
  1%|          | 5/900 [01:39<2:14:28,  9.02s/it]
  1%|          | 6/900 [01:40<1:32:16,  6.19s/it]
  1%|          | 7/900 [01:40<1:05:35,  4.41s/it]
  1%|          | 8/900 [01:41<47:56,  3.23s/it]  
  1%|          | 9/900 [02:01<2:07:48,  8.61s/it]
  1%|          | 10/900 [02:02<1:31:24,  6.16s/it]
  1%|          | 11/900 [02:03<1:06:28,  4.49s/it]
  1%|▏         | 12/900 [02:04<49:18,  3.33s/it]  
  1%|▏         | 13/900 [02:04<37:25,  2.53s/it]
  2%|▏         | 14/900 [02:05<29:09,  1.97s/it]
  2%|▏         | 15/900 [02:06<23:27,  1.59s/it]
  2%|▏         | 16/900 [02:06<19:33,  1.33s/it]
  2%|▏         | 17/900 [02:28<1:49:22,  7.43s/it]
  2%|▏         | 18/900 [02:29<1:19:30,  5.41s/it]
  2%|▏         | 19/900 [02:29<58:35,  3.99s/it]  
  2%|▏         | 20/900 [02:30<44:00,  3.00s/it]
  2%|▏         | 21/900 [02:31<33:52,  2.31s/it]
  2%|▏         | 22/900 [02:31<26:42,  1.82s/it]
  3%|▎         | 23/900 [02:32<21:42,  1.49s/it]
  3%|▎         | 24/900 [02:33<18:09,  1.24s/it]
  3%|▎         | 25/900 [03:07<2:40:52, 11.03s/it]
  3%|▎         | 26/900 [03:07<1:55:30,  7.93s/it]
  3%|▎         | 27/900 [03:08<1:23:55,  5.77s/it]
  3%|▎         | 28/900 [03:09<1:01:48,  4.25s/it]
  3%|▎         | 29/900 [03:10<46:16,  3.19s/it]  
  3%|▎         | 30/900 [03:10<35:23,  2.44s/it]
  3%|▎         | 31/900 [03:11<27:46,  1.92s/it]
  4%|▎         | 32/900 [03:12<22:25,  1.55s/it]
  4%|▎         | 33/900 [03:40<2:18:49,  9.61s/it]
  4%|▍         | 34/900 [03:41<1:40:03,  6.93s/it]
  4%|▍         | 35/900 [03:41<1:12:58,  5.06s/it]
  4%|▍         | 36/900 [03:42<54:02,  3.75s/it]  
  4%|▍         | 37/900 [03:43<40:47,  2.84s/it]
  4%|▍         | 38/900 [03:44<31:38,  2.20s/it]
  4%|▍         | 39/900 [03:44<25:10,  1.75s/it]
  4%|▍         | 40/900 [03:45<20:41,  1.44s/it]
  5%|▍         | 41/900 [04:07<1:48:45,  7.60s/it]
  5%|▍         | 42/900 [04:08<1:19:11,  5.54s/it]
  5%|▍         | 43/900 [04:08<58:28,  4.09s/it]  
  5%|▍         | 44/900 [04:09<43:57,  3.08s/it]
  5%|▌         | 45/900 [04:10<33:48,  2.37s/it]
  5%|▌         | 46/900 [04:11<26:42,  1.88s/it]
  5%|▌         | 47/900 [04:11<21:45,  1.53s/it]
  5%|▌         | 48/900 [04:12<18:18,  1.29s/it]
  5%|▌         | 49/900 [04:32<1:37:43,  6.89s/it]
  6%|▌         | 50/900 [04:33<1:11:25,  5.04s/it]
  6%|▌         | 51/900 [04:33<53:01,  3.75s/it]  
  6%|▌         | 52/900 [04:34<40:16,  2.85s/it]
  6%|▌         | 53/900 [04:35<31:13,  2.21s/it]
  6%|▌         | 54/900 [04:36<24:52,  1.76s/it]
  6%|▌         | 55/900 [04:36<20:27,  1.45s/it]
  6%|▌         | 56/900 [04:37<17:25,  1.24s/it]
  6%|▋         | 57/900 [04:50<1:08:34,  4.88s/it]
  6%|▋         | 58/900 [04:51<51:02,  3.64s/it]  
  7%|▋         | 59/900 [04:52<38:47,  2.77s/it]
  7%|▋         | 60/900 [04:53<30:12,  2.16s/it]
  7%|▋         | 61/900 [04:53<24:09,  1.73s/it]
  7%|▋         | 62/900 [04:54<19:55,  1.43s/it]
  7%|▋         | 63/900 [04:55<16:55,  1.21s/it]
  7%|▋         | 64/900 [04:56<14:49,  1.06s/it]
  7%|▋         | 65/900 [05:48<3:50:54, 16.59s/it]
  7%|▋         | 66/900 [05:49<2:44:32, 11.84s/it]
  7%|▋         | 67/900 [05:50<1:58:04,  8.50s/it]
  8%|▊         | 68/900 [05:51<1:25:34,  6.17s/it]
  8%|▊         | 69/900 [05:51<1:02:52,  4.54s/it]
  8%|▊         | 70/900 [05:52<47:00,  3.40s/it]  
  8%|▊         | 71/900 [05:53<35:52,  2.60s/it]
  8%|▊         | 72/900 [05:53<28:07,  2.04s/it]
  8%|▊         | 73/900 [07:23<6:29:48, 28.28s/it]
  8%|▊         | 74/900 [07:24<4:35:26, 20.01s/it]
  8%|▊         | 75/900 [07:24<3:15:24, 14.21s/it]
  8%|▊         | 76/900 [07:25<2:19:27, 10.15s/it]
  9%|▊         | 77/900 [07:26<1:40:21,  7.32s/it]
  9%|▊         | 78/900 [07:26<1:13:00,  5.33s/it]
  9%|▉         | 79/900 [07:27<53:52,  3.94s/it]  
  9%|▉         | 80/900 [07:28<40:37,  2.97s/it]
  9%|▉         | 81/900 [08:04<2:55:04, 12.83s/it]
  9%|▉         | 82/900 [08:04<2:05:19,  9.19s/it]
  9%|▉         | 83/900 [08:05<1:30:29,  6.65s/it]
  9%|▉         | 84/900 [08:06<1:06:09,  4.86s/it]
  9%|▉         | 85/900 [08:07<49:07,  3.62s/it]  
 10%|▉         | 86/900 [08:07<37:11,  2.74s/it]
 10%|▉         | 87/900 [08:08<28:51,  2.13s/it]
 10%|▉         | 88/900 [08:09<22:59,  1.70s/it]
 10%|▉         | 89/900 [08:33<1:53:13,  8.38s/it]
 10%|█         | 90/900 [08:33<1:22:00,  6.07s/it]
 10%|█         | 91/900 [08:34<1:00:14,  4.47s/it]
 10%|█         | 92/900 [08:35<44:56,  3.34s/it]  
 10%|█         | 93/900 [08:35<34:15,  2.55s/it]
 10%|█         | 94/900 [08:36<26:49,  2.00s/it]
 11%|█         | 95/900 [08:37<21:40,  1.61s/it]
 11%|█         | 96/900 [08:38<18:04,  1.35s/it]
 11%|█         | 97/900 [09:50<5:04:52, 22.78s/it]
 11%|█         | 98/900 [09:51<3:36:13, 16.18s/it]
 11%|█         | 99/900 [09:52<2:34:09, 11.55s/it]
 11%|█         | 100/900 [09:53<1:50:41,  8.30s/it]
 11%|█         | 101/900 [09:53<1:20:18,  6.03s/it]
 11%|█▏        | 102/900 [09:54<59:02,  4.44s/it]  
 11%|█▏        | 103/900 [09:55<44:10,  3.33s/it]
 12%|█▏        | 104/900 [09:55<33:44,  2.54s/it]
 12%|█▏        | 105/900 [10:09<1:15:49,  5.72s/it]
 12%|█▏        | 106/900 [10:09<56:02,  4.23s/it]  
 12%|█▏        | 107/900 [10:10<42:07,  3.19s/it]
 12%|█▏        | 108/900 [10:11<32:22,  2.45s/it]
 12%|█▏        | 109/900 [10:12<25:34,  1.94s/it]
 12%|█▏        | 110/900 [10:12<20:55,  1.59s/it]
 12%|█▏        | 111/900 [10:13<17:26,  1.33s/it]
 12%|█▏        | 112/900 [10:14<14:58,  1.14s/it]
 13%|█▎        | 113/900 [11:45<6:08:12, 28.07s/it]
 13%|█▎        | 114/900 [11:45<4:20:14, 19.87s/it]
 13%|█▎        | 115/900 [11:46<3:04:38, 14.11s/it]
 13%|█▎        | 116/900 [11:47<2:11:50, 10.09s/it]
 13%|█▎        | 117/900 [11:48<1:34:55,  7.27s/it]
 13%|█▎        | 118/900 [11:48<1:09:03,  5.30s/it]
 13%|█▎        | 119/900 [11:49<50:58,  3.92s/it]  
 13%|█▎        | 120/900 [11:50<38:24,  2.95s/it]
 13%|█▎        | 121/900 [12:25<2:44:44, 12.69s/it]
 14%|█▎        | 122/900 [12:26<1:58:03,  9.10s/it]
 14%|█▎        | 123/900 [12:27<1:25:24,  6.59s/it]
 14%|█▍        | 124/900 [12:27<1:02:29,  4.83s/it]
 14%|█▍        | 125/900 [12:28<46:27,  3.60s/it]  
 14%|█▍        | 126/900 [12:29<35:18,  2.74s/it]
 14%|█▍        | 127/900 [12:29<27:26,  2.13s/it]
 14%|█▍        | 128/900 [12:30<21:56,  1.71s/it]
 14%|█▍        | 129/900 [13:42<4:50:43, 22.63s/it]
 14%|█▍        | 130/900 [13:42<3:25:55, 16.05s/it]
 15%|█▍        | 131/900 [13:43<2:26:37, 11.44s/it]
 15%|█▍        | 132/900 [13:44<1:45:10,  8.22s/it]
 15%|█▍        | 133/900 [13:44<1:16:09,  5.96s/it]
 15%|█▍        | 134/900 [13:45<55:52,  4.38s/it]  
 15%|█▌        | 135/900 [13:46<41:42,  3.27s/it]
 15%|█▌        | 136/900 [13:46<31:49,  2.50s/it]
 15%|█▌        | 137/900 [14:12<2:00:19,  9.46s/it]
 15%|█▌        | 138/900 [14:13<1:26:45,  6.83s/it]
 15%|█▌        | 139/900 [14:13<1:03:16,  4.99s/it]
 16%|█▌        | 140/900 [14:14<46:51,  3.70s/it]  
 16%|█▌        | 141/900 [14:15<35:24,  2.80s/it]
 16%|█▌        | 142/900 [14:16<27:19,  2.16s/it]
 16%|█▌        | 143/900 [14:16<21:43,  1.72s/it]
 16%|█▌        | 144/900 [14:17<17:47,  1.41s/it]
 16%|█▌        | 145/900 [15:23<4:20:15, 20.68s/it]
 16%|█▌        | 146/900 [15:23<3:04:48, 14.71s/it]
 16%|█▋        | 147/900 [15:24<2:11:54, 10.51s/it]
 16%|█▋        | 148/900 [15:25<1:34:54,  7.57s/it]
 17%|█▋        | 149/900 [15:25<1:09:02,  5.52s/it]
 17%|█▋        | 150/900 [15:26<50:58,  4.08s/it]  
 17%|█▋        | 151/900 [15:27<38:21,  3.07s/it]
 17%|█▋        | 152/900 [15:28<29:28,  2.36s/it]
 17%|█▋        | 153/900 [17:31<8:02:19, 38.74s/it]
 17%|█▋        | 154/900 [17:32<5:39:50, 27.33s/it]
 17%|█▋        | 155/900 [17:33<4:00:15, 19.35s/it]
 17%|█▋        | 156/900 [17:33<2:50:37, 13.76s/it]
 17%|█▋        | 157/900 [17:34<2:01:56,  9.85s/it]
 18%|█▊        | 158/900 [17:35<1:27:54,  7.11s/it]
 18%|█▊        | 159/900 [17:36<1:04:03,  5.19s/it]
 18%|█▊        | 160/900 [17:36<47:25,  3.84s/it]  
 18%|█▊        | 161/900 [18:18<3:07:56, 15.26s/it]
 18%|█▊        | 162/900 [18:19<2:14:02, 10.90s/it]
 18%|█▊        | 163/900 [18:20<1:36:22,  7.85s/it]
 18%|█▊        | 164/900 [18:20<1:10:00,  5.71s/it]
 18%|█▊        | 165/900 [18:21<51:36,  4.21s/it]  
 18%|█▊        | 166/900 [18:22<38:42,  3.16s/it]
 19%|█▊        | 167/900 [18:22<29:42,  2.43s/it]
 19%|█▊        | 168/900 [18:23<23:28,  1.92s/it]
 19%|█▉        | 169/900 [20:18<7:17:27, 35.91s/it]
 19%|█▉        | 170/900 [20:19<5:08:26, 25.35s/it]
 19%|█▉        | 171/900 [20:20<3:38:16, 17.96s/it]
 19%|█▉        | 172/900 [20:21<2:35:11, 12.79s/it]
 19%|█▉        | 173/900 [20:21<1:51:06,  9.17s/it]
 19%|█▉        | 174/900 [20:22<1:20:16,  6.63s/it]
 19%|█▉        | 175/900 [20:23<58:43,  4.86s/it]  
 20%|█▉        | 176/900 [20:24<43:45,  3.63s/it]
 20%|█▉        | 177/900 [20:46<1:51:19,  9.24s/it]
 20%|█▉        | 178/900 [20:47<1:20:24,  6.68s/it]
 20%|█▉        | 179/900 [20:47<58:46,  4.89s/it]  
 20%|██        | 180/900 [20:48<43:35,  3.63s/it]
 20%|██        | 181/900 [20:49<32:56,  2.75s/it]
 20%|██        | 182/900 [20:49<25:33,  2.14s/it]
 20%|██        | 183/900 [20:50<20:26,  1.71s/it]
 20%|██        | 184/900 [20:51<16:50,  1.41s/it]
 21%|██        | 185/900 [22:49<7:13:26, 36.37s/it]
 21%|██        | 186/900 [22:49<5:05:32, 25.68s/it]
 21%|██        | 187/900 [22:50<3:36:25, 18.21s/it]
 21%|██        | 188/900 [22:51<2:33:58, 12.97s/it]
 21%|██        | 189/900 [22:52<1:50:18,  9.31s/it]
 21%|██        | 190/900 [22:53<1:19:49,  6.75s/it]
 21%|██        | 191/900 [22:53<58:27,  4.95s/it]  
 21%|██▏       | 192/900 [22:54<43:29,  3.69s/it]
 21%|██▏       | 193/900 [23:34<2:50:26, 14.46s/it]
 22%|██▏       | 194/900 [23:34<2:01:44, 10.35s/it]
 22%|██▏       | 195/900 [23:35<1:27:39,  7.46s/it]
 22%|██▏       | 196/900 [23:36<1:03:50,  5.44s/it]
 22%|██▏       | 197/900 [23:37<47:14,  4.03s/it]  
 22%|██▏       | 198/900 [23:37<35:34,  3.04s/it]
 22%|██▏       | 199/900 [23:38<27:26,  2.35s/it]
 22%|██▏       | 200/900 [23:39<21:42,  1.86s/it]
 22%|██▏       | 201/900 [24:26<3:02:02, 15.63s/it]
 22%|██▏       | 202/900 [24:27<2:09:47, 11.16s/it]
 23%|██▎       | 203/900 [24:28<1:33:19,  8.03s/it]
 23%|██▎       | 204/900 [24:29<1:07:49,  5.85s/it]
 23%|██▎       | 205/900 [24:29<49:58,  4.31s/it]  
 23%|██▎       | 206/900 [24:30<37:28,  3.24s/it]
 23%|██▎       | 207/900 [24:31<28:44,  2.49s/it]
 23%|██▎       | 208/900 [24:32<22:39,  1.97s/it]
 23%|██▎       | 209/900 [25:12<2:35:08, 13.47s/it]
 23%|██▎       | 210/900 [25:13<1:50:59,  9.65s/it]
 23%|██▎       | 211/900 [25:13<1:20:04,  6.97s/it]
 24%|██▎       | 212/900 [25:14<58:28,  5.10s/it]  
 24%|██▎       | 213/900 [25:15<43:23,  3.79s/it]
 24%|██▍       | 214/900 [25:16<32:53,  2.88s/it]
 24%|██▍       | 215/900 [25:16<25:31,  2.24s/it]
 24%|██▍       | 216/900 [25:17<20:17,  1.78s/it]
 24%|██▍       | 217/900 [28:22<10:46:26, 56.79s/it]
 24%|██▍       | 218/900 [28:23<7:34:20, 39.97s/it] 
 24%|██▍       | 219/900 [28:24<5:20:03, 28.20s/it]
 24%|██▍       | 220/900 [28:24<3:46:11, 19.96s/it]
 25%|██▍       | 221/900 [28:25<2:40:33, 14.19s/it]
 25%|██▍       | 222/900 [28:26<1:54:43, 10.15s/it]
 25%|██▍       | 223/900 [28:27<1:22:41,  7.33s/it]
 25%|██▍       | 224/900 [28:27<1:00:13,  5.35s/it]
 25%|██▌       | 225/900 [28:49<1:53:29, 10.09s/it]
 25%|██▌       | 226/900 [28:49<1:21:45,  7.28s/it]
 25%|██▌       | 227/900 [28:50<59:26,  5.30s/it]  
 25%|██▌       | 228/900 [28:51<43:52,  3.92s/it]
 25%|██▌       | 229/900 [28:51<33:04,  2.96s/it]
 26%|██▌       | 230/900 [28:52<25:25,  2.28s/it]
 26%|██▌       | 231/900 [28:53<20:09,  1.81s/it]
 26%|██▌       | 232/900 [28:53<16:24,  1.47s/it]
 26%|██▌       | 233/900 [29:45<3:02:42, 16.44s/it]
 26%|██▌       | 234/900 [29:45<2:10:01, 11.71s/it]
 26%|██▌       | 235/900 [29:46<1:33:12,  8.41s/it]
 26%|██▌       | 236/900 [29:47<1:07:28,  6.10s/it]
 26%|██▋       | 237/900 [29:48<49:27,  4.48s/it]  
 26%|██▋       | 238/900 [29:48<36:51,  3.34s/it]
 27%|██▋       | 239/900 [29:49<28:06,  2.55s/it]
 27%|██▋       | 240/900 [29:50<21:59,  2.00s/it]
 27%|██▋       | 241/900 [30:21<1:57:36, 10.71s/it]
 27%|██▋       | 242/900 [30:21<1:24:31,  7.71s/it]
 27%|██▋       | 243/900 [30:22<1:01:22,  5.61s/it]
 27%|██▋       | 244/900 [30:23<45:12,  4.13s/it]  
 27%|██▋       | 245/900 [30:24<33:53,  3.10s/it]
 27%|██▋       | 246/900 [30:24<25:55,  2.38s/it]
 27%|██▋       | 247/900 [30:25<20:27,  1.88s/it]
 28%|██▊       | 248/900 [30:26<16:34,  1.53s/it]
 28%|██▊       | 249/900 [39:17<29:02:30, 160.60s/it]
 28%|██▊       | 250/900 [39:18<20:20:09, 112.63s/it]
 28%|██▊       | 251/900 [39:19<14:15:02, 79.05s/it] 
 28%|██▊       | 252/900 [39:19<9:59:54, 55.55s/it] 
 28%|██▊       | 253/900 [39:20<7:01:35, 39.10s/it]
 28%|██▊       | 254/900 [39:21<4:56:53, 27.58s/it]
 28%|██▊       | 255/900 [39:22<3:29:49, 19.52s/it]
 28%|██▊       | 256/900 [39:22<2:28:56, 13.88s/it]
 29%|██▊       | 257/900 [40:28<5:15:04, 29.40s/it]
 29%|██▊       | 258/900 [40:29<3:42:29, 20.79s/it]
 29%|██▉       | 259/900 [40:29<2:37:43, 14.76s/it]
 29%|██▉       | 260/900 [40:30<1:52:30, 10.55s/it]
 29%|██▉       | 261/900 [40:31<1:20:57,  7.60s/it]
 29%|██▉       | 262/900 [40:32<58:52,  5.54s/it]  
 29%|██▉       | 263/900 [40:32<43:26,  4.09s/it]
 29%|██▉       | 264/900 [40:33<32:39,  3.08s/it]
 29%|██▉       | 265/900 [41:12<2:25:57, 13.79s/it]
 30%|██▉       | 266/900 [41:12<1:44:18,  9.87s/it]
 30%|██▉       | 267/900 [41:13<1:15:13,  7.13s/it]
 30%|██▉       | 268/900 [41:14<54:53,  5.21s/it]  
 30%|██▉       | 269/900 [41:15<40:40,  3.87s/it]
 30%|███       | 270/900 [41:15<30:48,  2.93s/it]
 30%|███       | 271/900 [41:16<23:50,  2.27s/it]
 30%|███       | 272/900 [41:17<18:55,  1.81s/it]
 30%|███       | 273/900 [45:50<14:30:23, 83.29s/it]
 30%|███       | 274/900 [45:51<10:10:39, 58.53s/it]
 31%|███       | 275/900 [45:52<7:09:06, 41.19s/it] 
 31%|███       | 276/900 [45:53<5:02:13, 29.06s/it]
 31%|███       | 277/900 [45:53<3:33:31, 20.56s/it]
 31%|███       | 278/900 [45:54<2:31:33, 14.62s/it]
 31%|███       | 279/900 [45:55<1:48:15, 10.46s/it]
 31%|███       | 280/900 [45:56<1:17:57,  7.54s/it]
 31%|███       | 281/900 [49:43<12:37:19, 73.41s/it]
 31%|███▏      | 282/900 [49:43<8:51:29, 51.60s/it] 
 31%|███▏      | 283/900 [49:44<6:13:39, 36.34s/it]
 32%|███▏      | 284/900 [49:45<4:23:20, 25.65s/it]
 32%|███▏      | 285/900 [49:45<3:06:15, 18.17s/it]
 32%|███▏      | 286/900 [49:46<2:12:23, 12.94s/it]
 32%|███▏      | 287/900 [49:47<1:34:43,  9.27s/it]
 32%|███▏      | 288/900 [49:48<1:08:25,  6.71s/it]
 32%|███▏      | 289/900 [50:42<3:33:53, 21.00s/it]
 32%|███▏      | 290/900 [50:43<2:31:42, 14.92s/it]
 32%|███▏      | 291/900 [50:43<1:48:16, 10.67s/it]
 32%|███▏      | 292/900 [50:44<1:17:51,  7.68s/it]
 33%|███▎      | 293/900 [50:45<56:36,  5.60s/it]  
 33%|███▎      | 294/900 [50:46<41:45,  4.13s/it]
 33%|███▎      | 295/900 [50:46<31:22,  3.11s/it]
 33%|███▎      | 296/900 [50:47<24:07,  2.40s/it]
 33%|███▎      | 297/900 [53:58<9:52:45, 58.98s/it]
 33%|███▎      | 298/900 [53:59<6:56:24, 41.50s/it]
 33%|███▎      | 299/900 [54:00<4:53:10, 29.27s/it]
 33%|███▎      | 300/900 [54:00<3:27:02, 20.70s/it]
 33%|███▎      | 301/900 [54:01<2:26:50, 14.71s/it]
 34%|███▎      | 302/900 [54:02<1:44:47, 10.51s/it]
 34%|███▎      | 303/900 [54:02<1:15:23,  7.58s/it]
 34%|███▍      | 304/900 [54:03<54:51,  5.52s/it]  
 34%|███▍      | 305/900 [55:53<6:05:51, 36.89s/it]
 34%|███▍      | 306/900 [55:54<4:17:50, 26.05s/it]
 34%|███▍      | 307/900 [55:55<3:02:20, 18.45s/it]
 34%|███▍      | 308/900 [55:55<2:09:35, 13.13s/it]
 34%|███▍      | 309/900 [55:56<1:32:40,  9.41s/it]
 34%|███▍      | 310/900 [55:57<1:06:52,  6.80s/it]
 35%|███▍      | 311/900 [55:58<48:49,  4.97s/it]  
 35%|███▍      | 312/900 [55:58<36:14,  3.70s/it]
 35%|███▍      | 313/900 [57:38<5:16:43, 32.37s/it]
 35%|███▍      | 314/900 [57:38<3:43:25, 22.88s/it]
 35%|███▌      | 315/900 [57:39<2:38:14, 16.23s/it]
 35%|███▌      | 316/900 [57:40<1:52:41, 11.58s/it]
 35%|███▌      | 317/900 [57:40<1:20:51,  8.32s/it]
 35%|███▌      | 318/900 [57:41<58:35,  6.04s/it]  
 35%|███▌      | 319/900 [57:42<43:00,  4.44s/it]
 36%|███▌      | 320/900 [57:43<32:06,  3.32s/it]
 36%|███▌      | 321/900 [59:39<5:59:17, 37.23s/it]
 36%|███▌      | 322/900 [59:40<4:13:10, 26.28s/it]
 36%|███▌      | 323/900 [59:40<2:59:07, 18.63s/it]
 36%|███▌      | 324/900 [59:41<2:07:18, 13.26s/it]
 36%|███▌      | 325/900 [59:42<1:31:11,  9.52s/it]
 36%|███▌      | 326/900 [59:43<1:05:52,  6.89s/it]
 36%|███▋      | 327/900 [59:43<48:09,  5.04s/it]  
 36%|███▋      | 328/900 [59:44<35:50,  3.76s/it]
 37%|███▋      | 329/900 [1:00:50<3:31:55, 22.27s/it]
 37%|███▋      | 330/900 [1:00:50<2:30:15, 15.82s/it]
 37%|███▋      | 331/900 [1:00:51<1:47:07, 11.30s/it]
 37%|███▋      | 332/900 [1:00:52<1:17:00,  8.14s/it]
 37%|███▋      | 333/900 [1:00:53<55:52,  5.91s/it]  
 37%|███▋      | 334/900 [1:00:53<41:06,  4.36s/it]
 37%|███▋      | 335/900 [1:00:54<30:48,  3.27s/it]
 37%|███▋      | 336/900 [1:00:55<23:37,  2.51s/it]
 37%|███▋      | 337/900 [1:01:59<3:17:33, 21.05s/it]
 38%|███▊      | 338/900 [1:02:00<2:20:10, 14.97s/it]
 38%|███▊      | 339/900 [1:02:01<1:40:06, 10.71s/it]
 38%|███▊      | 340/900 [1:02:02<1:12:06,  7.73s/it]
 38%|███▊      | 341/900 [1:02:02<52:29,  5.63s/it]  
 38%|███▊      | 342/900 [1:02:03<38:45,  4.17s/it]
 38%|███▊      | 343/900 [1:02:04<29:07,  3.14s/it]
 38%|███▊      | 344/900 [1:02:05<22:23,  2.42s/it]
 38%|███▊      | 345/900 [1:04:16<6:21:21, 41.23s/it]
 38%|███▊      | 346/900 [1:04:17<4:28:34, 29.09s/it]
 39%|███▊      | 347/900 [1:04:18<3:09:40, 20.58s/it]
 39%|███▊      | 348/900 [1:04:19<2:14:33, 14.63s/it]
 39%|███▉      | 349/900 [1:04:19<1:36:02, 10.46s/it]
 39%|███▉      | 350/900 [1:04:20<1:09:08,  7.54s/it]
 39%|███▉      | 351/900 [1:04:21<50:19,  5.50s/it]  
 39%|███▉      | 352/900 [1:04:21<37:09,  4.07s/it]
 39%|███▉      | 353/900 [1:08:33<11:54:24, 78.36s/it]
 39%|███▉      | 354/900 [1:08:34<8:21:11, 55.08s/it] 
 39%|███▉      | 355/900 [1:08:35<5:52:14, 38.78s/it]
 40%|███▉      | 356/900 [1:08:35<4:08:08, 27.37s/it]
 40%|███▉      | 357/900 [1:08:36<2:55:24, 19.38s/it]
 40%|███▉      | 358/900 [1:08:37<2:04:39, 13.80s/it]
 40%|███▉      | 359/900 [1:08:38<1:29:08,  9.89s/it]
 40%|████      | 360/900 [1:08:38<1:04:19,  7.15s/it]
 40%|████      | 361/900 [1:10:58<7:00:39, 46.83s/it]
 40%|████      | 362/900 [1:10:59<4:55:53, 33.00s/it]
 40%|████      | 363/900 [1:10:59<3:28:44, 23.32s/it]
 40%|████      | 364/900 [1:11:00<2:27:46, 16.54s/it]
 41%|████      | 365/900 [1:11:01<1:45:11, 11.80s/it]
 41%|████      | 366/900 [1:11:02<1:15:25,  8.47s/it]
 41%|████      | 367/900 [1:11:02<54:37,  6.15s/it]  
 41%|████      | 368/900 [1:11:03<40:04,  4.52s/it]
 41%|████      | 369/900 [1:11:54<2:43:47, 18.51s/it]
 41%|████      | 370/900 [1:11:55<1:56:23, 13.18s/it]
 41%|████      | 371/900 [1:11:56<1:23:25,  9.46s/it]
 41%|████▏     | 372/900 [1:11:56<1:00:20,  6.86s/it]
 41%|████▏     | 373/900 [1:11:57<44:08,  5.03s/it]  
 42%|████▏     | 374/900 [1:11:58<32:54,  3.75s/it]
 42%|████▏     | 375/900 [1:11:59<25:02,  2.86s/it]
 42%|████▏     | 376/900 [1:11:59<19:26,  2.23s/it]
 42%|████▏     | 377/900 [1:14:29<6:44:34, 46.41s/it]
 42%|████▏     | 378/900 [1:14:30<4:44:35, 32.71s/it]
 42%|████▏     | 379/900 [1:14:30<3:20:48, 23.13s/it]
 42%|████▏     | 380/900 [1:14:31<2:22:14, 16.41s/it]
 42%|████▏     | 381/900 [1:14:32<1:41:16, 11.71s/it]
 42%|████▏     | 382/900 [1:14:33<1:12:37,  8.41s/it]
 43%|████▎     | 383/900 [1:14:33<52:36,  6.11s/it]  
 43%|████▎     | 384/900 [1:14:34<38:39,  4.49s/it]
 43%|████▎     | 385/900 [1:16:46<6:07:21, 42.80s/it]
 43%|████▎     | 386/900 [1:16:47<4:18:32, 30.18s/it]
 43%|████▎     | 387/900 [1:16:48<3:02:32, 21.35s/it]
 43%|████▎     | 388/900 [1:16:49<2:09:23, 15.16s/it]
 43%|████▎     | 389/900 [1:16:49<1:32:15, 10.83s/it]
 43%|████▎     | 390/900 [1:16:50<1:06:18,  7.80s/it]
 43%|████▎     | 391/900 [1:16:51<48:12,  5.68s/it]  
 44%|████▎     | 392/900 [1:16:51<35:35,  4.20s/it]
 44%|████▎     | 393/900 [1:20:22<9:18:36, 66.11s/it]
 44%|████▍     | 394/900 [1:20:23<6:32:07, 46.50s/it]
 44%|████▍     | 395/900 [1:20:23<4:35:47, 32.77s/it]
 44%|████▍     | 396/900 [1:20:24<3:14:30, 23.16s/it]
 44%|████▍     | 397/900 [1:20:25<2:17:41, 16.43s/it]
 44%|████▍     | 398/900 [1:20:26<1:38:00, 11.72s/it]
 44%|████▍     | 399/900 [1:20:26<1:10:17,  8.42s/it]
 44%|████▍     | 400/900 [1:20:27<50:51,  6.10s/it]  
 45%|████▍     | 401/900 [1:27:40<18:36:26, 134.24s/it]
 45%|████▍     | 402/900 [1:27:41<13:01:43, 94.18s/it] 
 45%|████▍     | 403/900 [1:27:42<9:07:56, 66.15s/it] 
 45%|████▍     | 404/900 [1:27:43<6:24:36, 46.53s/it]
 45%|████▌     | 405/900 [1:27:43<4:30:32, 32.79s/it]
 45%|████▌     | 406/900 [1:27:44<3:10:50, 23.18s/it]
 45%|████▌     | 407/900 [1:27:45<2:15:06, 16.44s/it]
 45%|████▌     | 408/900 [1:27:45<1:36:10, 11.73s/it]
 45%|████▌     | 408/900 [1:29:30<1:47:56, 13.16s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json.
+SmallPumpkinInBinTask_2 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: True, episode_step: 409, duration: 27.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.320834833952449, 'joint_sparc_mean': -8.258995858693298, 'ee_isj': 2194.23055798687, 'joint_isj': 25059.0595437039, 'ee_path_length': 3.2295647946867287, 'joint_rmse_mean': 1.035597673285438, 'ee_speed_max': 0.7110643982887268, 'ee_speed_mean': 0.1126265674829483}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_FULLY_CLOSED': 2, 'wrong_objects_grabbed': ['whitepackerbottle_a01']}, instruction_type: default, timing: {'policy_inference_s': 5086.515, 'policy_inference_avg_ms': 12436.5, 'env_step_s': 280.356, 'env_step_avg_ms': 685.5, 'video_write_s': 3.756, 'video_write_avg_ms': 9.2, 'wall_total_s': 5370.627, 'it_per_sec': 0.08}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 2e617136d88744a188a0504e70562195-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T03:43:24Z [10,991,249ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.222642 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T03:43:27Z [10,994,874ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T03:43:27Z [10,994,874ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T03:43:27Z [10,994,883ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T03:43:27Z [10,994,884ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T03:43:27Z [10,994,892ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T03:43:27Z [10,994,900ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T03:43:27Z [10,994,920ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-02T03:43:29Z [10,996,712ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-02T03:43:29Z [10,996,713ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-02T03:43:29Z [10,996,728ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-02T03:43:29Z [10,996,728ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-02T03:43:29Z [10,996,746ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-11-02T03:43:29Z [10,996,746ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-11-02T03:43:29Z [10,996,779ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-11-02T03:43:29Z [10,996,780ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-11-02T03:43:29Z [10,996,827ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation.
+2026-11-02T03:43:29Z [10,996,827ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation.
+2026-11-02T03:43:31Z [10,998,909ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((473))' not available in the MDL representation.
+2026-11-02T03:43:31Z [10,998,910ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((473))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,758ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,758ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,759ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,759ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,760ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,760ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,761ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,761ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,762ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,762ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,765ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((473))' not available in the MDL representation.
+2026-11-02T03:43:32Z [10,999,765ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((473))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.404329 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientWhiteMugsTask_0: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:53<13:22:30, 53.56s/it]
  0%|          | 2/900 [00:53<5:32:52, 22.24s/it] 
  0%|          | 3/900 [00:54<3:02:46, 12.23s/it]
  0%|          | 4/900 [00:54<1:52:20,  7.52s/it]
  1%|          | 5/900 [00:54<1:13:26,  4.92s/it]
  1%|          | 6/900 [00:55<49:58,  3.35s/it]  
  1%|          | 7/900 [00:55<35:05,  2.36s/it]
  1%|          | 8/900 [00:55<25:21,  1.71s/it]
  1%|          | 9/900 [01:04<1:00:19,  4.06s/it]
  1%|          | 10/900 [01:05<43:03,  2.90s/it] 
  1%|          | 11/900 [01:05<31:17,  2.11s/it]
  1%|▏         | 12/900 [01:05<23:10,  1.57s/it]
  1%|▏         | 13/900 [01:06<17:33,  1.19s/it]
  2%|▏         | 14/900 [01:06<13:36,  1.08it/s]
  2%|▏         | 15/900 [01:06<10:51,  1.36it/s]
  2%|▏         | 16/900 [01:07<08:58,  1.64it/s]
  2%|▏         | 17/900 [01:36<2:17:32,  9.35s/it]
  2%|▏         | 18/900 [01:37<1:37:27,  6.63s/it]
  2%|▏         | 19/900 [01:37<1:09:32,  4.74s/it]
  2%|▏         | 20/900 [01:37<49:59,  3.41s/it]  
  2%|▏         | 21/900 [01:38<36:17,  2.48s/it]
  2%|▏         | 22/900 [01:38<26:44,  1.83s/it]
  3%|▎         | 23/900 [01:38<20:04,  1.37s/it]
  3%|▎         | 24/900 [01:39<15:23,  1.05s/it]
  3%|▎         | 25/900 [02:20<3:10:56, 13.09s/it]
  3%|▎         | 26/900 [02:20<2:14:50,  9.26s/it]
  3%|▎         | 27/900 [02:20<1:35:37,  6.57s/it]
  3%|▎         | 28/900 [02:21<1:08:13,  4.69s/it]
  3%|▎         | 29/900 [02:21<49:07,  3.38s/it]  
  3%|▎         | 30/900 [02:21<35:49,  2.47s/it]
  3%|▎         | 31/900 [02:22<26:28,  1.83s/it]
  4%|▎         | 32/900 [02:22<19:55,  1.38s/it]
  4%|▎         | 33/900 [02:30<47:21,  3.28s/it]
  4%|▍         | 34/900 [02:30<34:31,  2.39s/it]
  4%|▍         | 35/900 [02:30<25:32,  1.77s/it]
  4%|▍         | 36/900 [02:31<19:16,  1.34s/it]
  4%|▍         | 37/900 [02:31<14:52,  1.03s/it]
  4%|▍         | 38/900 [02:31<11:47,  1.22it/s]
  4%|▍         | 39/900 [02:32<09:37,  1.49it/s]
  4%|▍         | 40/900 [02:32<08:07,  1.77it/s]
  5%|▍         | 41/900 [03:26<3:59:34, 16.73s/it]
  5%|▍         | 42/900 [03:27<2:48:55, 11.81s/it]
  5%|▍         | 43/900 [03:27<1:59:25,  8.36s/it]
  5%|▍         | 44/900 [03:27<1:24:48,  5.94s/it]
  5%|▌         | 45/900 [03:28<1:00:38,  4.26s/it]
  5%|▌         | 46/900 [03:28<43:43,  3.07s/it]  
  5%|▌         | 47/900 [03:28<31:52,  2.24s/it]
  5%|▌         | 48/900 [03:29<23:37,  1.66s/it]
  5%|▌         | 49/900 [03:45<1:24:50,  5.98s/it]
  6%|▌         | 50/900 [03:45<1:00:37,  4.28s/it]
  6%|▌         | 51/900 [03:45<43:41,  3.09s/it]  
  6%|▌         | 52/900 [03:46<31:52,  2.26s/it]
  6%|▌         | 53/900 [03:46<23:34,  1.67s/it]
  6%|▌         | 54/900 [03:46<17:48,  1.26s/it]
  6%|▌         | 55/900 [03:46<13:45,  1.02it/s]
  6%|▌         | 56/900 [03:47<10:56,  1.29it/s]
  6%|▋         | 57/900 [04:21<2:31:11, 10.76s/it]
  6%|▋         | 58/900 [04:21<1:47:00,  7.62s/it]
  7%|▋         | 59/900 [04:21<1:16:09,  5.43s/it]
  7%|▋         | 60/900 [04:22<54:36,  3.90s/it]  
  7%|▋         | 61/900 [04:22<39:28,  2.82s/it]
  7%|▋         | 62/900 [04:22<28:54,  2.07s/it]
  7%|▋         | 63/900 [04:23<21:30,  1.54s/it]
  7%|▋         | 64/900 [04:23<16:19,  1.17s/it]
  7%|▋         | 65/900 [04:47<1:49:51,  7.89s/it]
  7%|▋         | 66/900 [04:47<1:18:05,  5.62s/it]
  7%|▋         | 67/900 [04:47<55:53,  4.03s/it]  
  8%|▊         | 68/900 [04:48<40:25,  2.91s/it]
  8%|▊         | 69/900 [04:48<29:37,  2.14s/it]
  8%|▊         | 70/900 [04:48<21:59,  1.59s/it]
  8%|▊         | 71/900 [04:49<16:38,  1.21s/it]
  8%|▊         | 72/900 [04:49<12:59,  1.06it/s]
  8%|▊         | 73/900 [05:16<1:59:31,  8.67s/it]
  8%|▊         | 74/900 [05:16<1:24:49,  6.16s/it]
  8%|▊         | 75/900 [05:16<1:00:34,  4.41s/it]
  8%|▊         | 76/900 [05:16<43:36,  3.18s/it]  
  9%|▊         | 77/900 [05:17<31:44,  2.31s/it]
  9%|▊         | 78/900 [05:17<23:29,  1.71s/it]
  9%|▉         | 79/900 [05:17<17:44,  1.30s/it]
  9%|▉         | 80/900 [05:18<13:42,  1.00s/it]
  9%|▉         | 81/900 [05:39<1:37:56,  7.18s/it]
  9%|▉         | 82/900 [05:40<1:09:48,  5.12s/it]
  9%|▉         | 83/900 [05:40<50:05,  3.68s/it]  
  9%|▉         | 84/900 [05:40<36:19,  2.67s/it]
  9%|▉         | 85/900 [05:41<26:41,  1.96s/it]
 10%|▉         | 86/900 [05:41<19:57,  1.47s/it]
 10%|▉         | 87/900 [05:41<15:14,  1.13s/it]
 10%|▉         | 88/900 [05:42<11:59,  1.13it/s]
 10%|▉         | 89/900 [06:05<1:43:14,  7.64s/it]
 10%|█         | 90/900 [06:05<1:13:30,  5.45s/it]
 10%|█         | 91/900 [06:06<52:47,  3.92s/it]  
 10%|█         | 92/900 [06:06<38:12,  2.84s/it]
 10%|█         | 93/900 [06:06<28:01,  2.08s/it]
 10%|█         | 94/900 [06:07<20:59,  1.56s/it]
 11%|█         | 95/900 [06:07<16:06,  1.20s/it]
 11%|█         | 96/900 [06:07<12:38,  1.06it/s]
 11%|█         | 97/900 [06:22<1:08:47,  5.14s/it]
 11%|█         | 98/900 [06:23<49:28,  3.70s/it]  
 11%|█         | 99/900 [06:23<35:57,  2.69s/it]
 11%|█         | 100/900 [06:23<26:31,  1.99s/it]
 11%|█         | 101/900 [06:24<19:55,  1.50s/it]
 11%|█▏        | 102/900 [06:24<15:10,  1.14s/it]
 11%|█▏        | 103/900 [06:24<11:50,  1.12it/s]
 12%|█▏        | 104/900 [06:25<09:31,  1.39it/s]
 12%|█▏        | 105/900 [06:55<2:06:06,  9.52s/it]
 12%|█▏        | 106/900 [06:55<1:29:29,  6.76s/it]
 12%|█▏        | 107/900 [06:55<1:03:48,  4.83s/it]
 12%|█▏        | 108/900 [06:56<45:51,  3.47s/it]  
 12%|█▏        | 109/900 [06:56<33:23,  2.53s/it]
 12%|█▏        | 110/900 [06:56<24:35,  1.87s/it]
 12%|█▏        | 111/900 [06:57<18:26,  1.40s/it]
 12%|█▏        | 112/900 [06:57<14:10,  1.08s/it]
 13%|█▎        | 113/900 [07:16<1:25:26,  6.51s/it]
 13%|█▎        | 114/900 [07:16<1:01:05,  4.66s/it]
 13%|█▎        | 115/900 [07:17<44:01,  3.36s/it]  
 13%|█▎        | 116/900 [07:17<32:01,  2.45s/it]
 13%|█▎        | 117/900 [07:17<23:45,  1.82s/it]
 13%|█▎        | 118/900 [07:18<17:57,  1.38s/it]
 13%|█▎        | 119/900 [07:18<13:50,  1.06s/it]
 13%|█▎        | 120/900 [07:18<11:01,  1.18it/s]
 13%|█▎        | 121/900 [08:05<3:07:38, 14.45s/it]
 14%|█▎        | 122/900 [08:05<2:12:32, 10.22s/it]
 14%|█▎        | 123/900 [08:05<1:34:00,  7.26s/it]
 14%|█▍        | 124/900 [08:06<1:07:02,  5.18s/it]
 14%|█▍        | 125/900 [08:06<48:06,  3.72s/it]  
 14%|█▍        | 126/900 [08:06<34:54,  2.71s/it]
 14%|█▍        | 127/900 [08:07<25:36,  1.99s/it]
 14%|█▍        | 128/900 [08:07<19:07,  1.49s/it]
 14%|█▍        | 129/900 [09:14<4:31:05, 21.10s/it]
 14%|█▍        | 130/900 [09:14<3:10:49, 14.87s/it]
 15%|█▍        | 131/900 [09:14<2:14:37, 10.50s/it]
 15%|█▍        | 132/900 [09:15<1:35:19,  7.45s/it]
 15%|█▍        | 133/900 [09:15<1:07:52,  5.31s/it]
 15%|█▍        | 134/900 [09:15<48:38,  3.81s/it]  
 15%|█▌        | 135/900 [09:16<35:11,  2.76s/it]
 15%|█▌        | 136/900 [09:16<25:51,  2.03s/it]
 15%|█▌        | 137/900 [09:31<1:13:50,  5.81s/it]
 15%|█▌        | 138/900 [09:31<52:51,  4.16s/it]  
 15%|█▌        | 139/900 [09:31<38:16,  3.02s/it]
 16%|█▌        | 140/900 [09:32<28:00,  2.21s/it]
 16%|█▌        | 141/900 [09:32<20:48,  1.65s/it]
 16%|█▌        | 142/900 [09:32<15:49,  1.25s/it]
 16%|█▌        | 143/900 [09:33<12:19,  1.02it/s]
 16%|█▌        | 144/900 [09:33<09:51,  1.28it/s]
 16%|█▌        | 145/900 [09:59<1:45:35,  8.39s/it]
 16%|█▌        | 146/900 [09:59<1:15:05,  5.98s/it]
 16%|█▋        | 147/900 [10:00<53:42,  4.28s/it]  
 16%|█▋        | 148/900 [10:00<38:44,  3.09s/it]
 17%|█▋        | 149/900 [10:00<28:15,  2.26s/it]
 17%|█▋        | 150/900 [10:01<20:56,  1.68s/it]
 17%|█▋        | 151/900 [10:01<15:49,  1.27s/it]
 17%|█▋        | 152/900 [10:01<12:13,  1.02it/s]
 17%|█▋        | 153/900 [10:23<1:28:54,  7.14s/it]
 17%|█▋        | 154/900 [10:23<1:03:22,  5.10s/it]
 17%|█▋        | 155/900 [10:24<45:30,  3.66s/it]  
 17%|█▋        | 156/900 [10:24<32:59,  2.66s/it]
 17%|█▋        | 157/900 [10:24<24:15,  1.96s/it]
 18%|█▊        | 158/900 [10:24<18:10,  1.47s/it]
 18%|█▊        | 159/900 [10:25<13:54,  1.13s/it]
 18%|█▊        | 160/900 [10:25<10:56,  1.13it/s]
 18%|█▊        | 161/900 [10:42<1:08:48,  5.59s/it]
 18%|█▊        | 162/900 [10:42<49:21,  4.01s/it]  
 18%|█▊        | 163/900 [10:42<35:45,  2.91s/it]
 18%|█▊        | 164/900 [10:43<26:15,  2.14s/it]
 18%|█▊        | 165/900 [10:43<19:36,  1.60s/it]
 18%|█▊        | 166/900 [10:43<14:56,  1.22s/it]
 19%|█▊        | 167/900 [10:44<11:38,  1.05it/s]
 19%|█▊        | 168/900 [10:44<09:24,  1.30it/s]
 19%|█▉        | 169/900 [11:02<1:12:10,  5.92s/it]
 19%|█▉        | 170/900 [11:02<51:43,  4.25s/it]  
 19%|█▉        | 171/900 [11:03<37:22,  3.08s/it]
 19%|█▉        | 172/900 [11:03<27:22,  2.26s/it]
 19%|█▉        | 173/900 [11:03<20:20,  1.68s/it]
 19%|█▉        | 174/900 [11:04<15:26,  1.28s/it]
 19%|█▉        | 175/900 [11:04<12:01,  1.01it/s]
 20%|█▉        | 176/900 [11:04<09:39,  1.25it/s]
 20%|█▉        | 177/900 [11:28<1:33:45,  7.78s/it]
 20%|█▉        | 178/900 [11:29<1:06:47,  5.55s/it]
 20%|█▉        | 179/900 [11:29<47:56,  3.99s/it]  
 20%|██        | 180/900 [11:29<34:45,  2.90s/it]
 20%|██        | 181/900 [11:30<25:32,  2.13s/it]
 20%|██        | 182/900 [11:30<19:03,  1.59s/it]
 20%|██        | 183/900 [11:31<14:34,  1.22s/it]
 20%|██        | 184/900 [11:31<11:25,  1.04it/s]
 21%|██        | 185/900 [12:22<3:12:22, 16.14s/it]
 21%|██        | 186/900 [12:23<2:15:35, 11.39s/it]
 21%|██        | 187/900 [12:23<1:35:55,  8.07s/it]
 21%|██        | 188/900 [12:23<1:08:11,  5.75s/it]
 21%|██        | 189/900 [12:24<48:46,  4.12s/it]  
 21%|██        | 190/900 [12:24<35:15,  2.98s/it]
 21%|██        | 191/900 [12:24<25:45,  2.18s/it]
 21%|██▏       | 192/900 [12:25<19:08,  1.62s/it]
 21%|██▏       | 193/900 [12:49<1:38:53,  8.39s/it]
 22%|██▏       | 194/900 [12:49<1:10:12,  5.97s/it]
 22%|██▏       | 195/900 [12:49<50:12,  4.27s/it]  
 22%|██▏       | 196/900 [12:50<36:12,  3.09s/it]
 22%|██▏       | 197/900 [12:50<26:24,  2.25s/it]
 22%|██▏       | 198/900 [12:50<19:36,  1.68s/it]
 22%|██▏       | 199/900 [12:51<14:46,  1.26s/it]
 22%|██▏       | 200/900 [12:51<11:24,  1.02it/s]
 22%|██▏       | 201/900 [13:17<1:39:32,  8.54s/it]
 22%|██▏       | 202/900 [13:18<1:10:38,  6.07s/it]
 23%|██▎       | 203/900 [13:18<50:30,  4.35s/it]  
 23%|██▎       | 204/900 [13:18<36:22,  3.14s/it]
 23%|██▎       | 205/900 [13:19<26:29,  2.29s/it]
 23%|██▎       | 206/900 [13:19<19:36,  1.69s/it]
 23%|██▎       | 207/900 [13:19<14:46,  1.28s/it]
 23%|██▎       | 208/900 [13:19<11:23,  1.01it/s]
 23%|██▎       | 209/900 [13:57<2:18:14, 12.00s/it]
 23%|██▎       | 210/900 [13:57<1:37:43,  8.50s/it]
 23%|██▎       | 211/900 [13:58<1:09:23,  6.04s/it]
 24%|██▎       | 212/900 [13:58<49:38,  4.33s/it]  
 24%|██▎       | 213/900 [13:58<35:51,  3.13s/it]
 24%|██▍       | 214/900 [13:59<26:16,  2.30s/it]
 24%|██▍       | 215/900 [13:59<19:31,  1.71s/it]
 24%|██▍       | 216/900 [13:59<14:52,  1.30s/it]
 24%|██▍       | 217/900 [14:57<3:28:09, 18.29s/it]
 24%|██▍       | 218/900 [14:58<2:26:41, 12.90s/it]
 24%|██▍       | 219/900 [14:58<1:43:43,  9.14s/it]
 24%|██▍       | 220/900 [14:58<1:13:38,  6.50s/it]
 25%|██▍       | 221/900 [14:59<52:37,  4.65s/it]  
 25%|██▍       | 222/900 [14:59<37:55,  3.36s/it]
 25%|██▍       | 223/900 [14:59<27:38,  2.45s/it]
 25%|██▍       | 224/900 [15:00<20:29,  1.82s/it]
 25%|██▌       | 225/900 [15:37<2:18:27, 12.31s/it]
 25%|██▌       | 226/900 [15:37<1:37:59,  8.72s/it]
 25%|██▌       | 227/900 [15:37<1:09:41,  6.21s/it]
 25%|██▌       | 228/900 [15:38<49:52,  4.45s/it]  
 25%|██▌       | 229/900 [15:38<36:02,  3.22s/it]
 26%|██▌       | 230/900 [15:38<26:20,  2.36s/it]
 26%|██▌       | 231/900 [15:39<19:32,  1.75s/it]
 26%|██▌       | 232/900 [15:39<14:47,  1.33s/it]
 26%|██▌       | 233/900 [16:06<1:40:58,  9.08s/it]
 26%|██▌       | 234/900 [16:07<1:11:44,  6.46s/it]
 26%|██▌       | 235/900 [16:07<51:19,  4.63s/it]  
 26%|██▌       | 236/900 [16:07<37:02,  3.35s/it]
 26%|██▋       | 237/900 [16:08<27:02,  2.45s/it]
 26%|██▋       | 238/900 [16:08<20:01,  1.82s/it]
 27%|██▋       | 239/900 [16:08<15:08,  1.37s/it]
 27%|██▋       | 240/900 [16:09<11:43,  1.07s/it]
 27%|██▋       | 241/900 [16:53<2:33:42, 14.00s/it]
 27%|██▋       | 242/900 [16:53<1:48:32,  9.90s/it]
 27%|██▋       | 243/900 [16:53<1:16:58,  7.03s/it]
 27%|██▋       | 244/900 [16:54<54:56,  5.03s/it]  
 27%|██▋       | 245/900 [16:54<39:31,  3.62s/it]
 27%|██▋       | 246/900 [16:54<28:45,  2.64s/it]
 27%|██▋       | 247/900 [16:55<21:13,  1.95s/it]
 28%|██▊       | 248/900 [16:55<15:58,  1.47s/it]
 28%|██▊       | 249/900 [18:05<3:59:49, 22.10s/it]
 28%|██▊       | 250/900 [18:06<2:48:45, 15.58s/it]
 28%|██▊       | 251/900 [18:06<1:59:05, 11.01s/it]
 28%|██▊       | 252/900 [18:06<1:24:22,  7.81s/it]
 28%|██▊       | 253/900 [18:07<1:00:07,  5.58s/it]
 28%|██▊       | 254/900 [18:07<43:07,  4.01s/it]  
 28%|██▊       | 255/900 [18:08<31:17,  2.91s/it]
 28%|██▊       | 256/900 [18:08<22:58,  2.14s/it]
 29%|██▊       | 257/900 [20:03<6:25:52, 36.01s/it]
 29%|██▊       | 258/900 [20:03<4:30:49, 25.31s/it]
 29%|██▉       | 259/900 [20:04<3:10:24, 17.82s/it]
 29%|██▉       | 260/900 [20:04<2:14:12, 12.58s/it]
 29%|██▉       | 261/900 [20:04<1:34:53,  8.91s/it]
 29%|██▉       | 262/900 [20:05<1:07:25,  6.34s/it]
 29%|██▉       | 263/900 [20:05<48:12,  4.54s/it]  
 29%|██▉       | 264/900 [20:05<34:47,  3.28s/it]
 29%|██▉       | 265/900 [22:52<9:14:28, 52.39s/it]
 30%|██▉       | 266/900 [22:53<6:28:38, 36.78s/it]
 30%|██▉       | 267/900 [22:53<4:32:42, 25.85s/it]
 30%|██▉       | 268/900 [22:53<3:11:39, 18.20s/it]
 30%|██▉       | 269/900 [22:54<2:15:01, 12.84s/it]
 30%|███       | 270/900 [22:54<1:35:26,  9.09s/it]
 30%|███       | 271/900 [22:54<1:07:46,  6.46s/it]
 30%|███       | 272/900 [22:55<48:26,  4.63s/it]  
 30%|███       | 273/900 [26:09<10:41:57, 61.43s/it]
 30%|███       | 274/900 [26:09<7:29:46, 43.11s/it] 
 31%|███       | 275/900 [26:09<5:15:25, 30.28s/it]
 31%|███       | 276/900 [26:10<3:41:31, 21.30s/it]
 31%|███       | 277/900 [26:10<2:35:53, 15.01s/it]
 31%|███       | 278/900 [26:10<1:50:00, 10.61s/it]
 31%|███       | 279/900 [26:11<1:17:57,  7.53s/it]
 31%|███       | 280/900 [26:11<55:32,  5.38s/it]  
 31%|███       | 281/900 [26:35<1:54:09, 11.07s/it]
 31%|███▏      | 282/900 [26:36<1:20:51,  7.85s/it]
 31%|███▏      | 283/900 [26:36<57:33,  5.60s/it]  
 32%|███▏      | 284/900 [26:37<41:17,  4.02s/it]
 32%|███▏      | 285/900 [26:37<29:56,  2.92s/it]
 32%|███▏      | 286/900 [26:37<21:59,  2.15s/it]
 32%|███▏      | 287/900 [26:38<16:27,  1.61s/it]
 32%|███▏      | 288/900 [26:38<12:33,  1.23s/it]
 32%|███▏      | 289/900 [27:29<2:45:31, 16.25s/it]
 32%|███▏      | 290/900 [27:30<1:56:44, 11.48s/it]
 32%|███▏      | 291/900 [27:30<1:22:41,  8.15s/it]
 32%|███▏      | 292/900 [27:30<58:50,  5.81s/it]  
 33%|███▎      | 293/900 [27:31<42:09,  4.17s/it]
 33%|███▎      | 294/900 [27:31<30:29,  3.02s/it]
 33%|███▎      | 295/900 [27:31<22:20,  2.22s/it]
 33%|███▎      | 296/900 [27:32<16:39,  1.65s/it]
 33%|███▎      | 297/900 [28:45<3:52:43, 23.16s/it]
 33%|███▎      | 298/900 [28:45<2:43:38, 16.31s/it]
 33%|███▎      | 299/900 [28:46<1:55:22, 11.52s/it]
 33%|███▎      | 300/900 [28:46<1:21:38,  8.16s/it]
 33%|███▎      | 301/900 [28:46<58:03,  5.82s/it]  
 34%|███▎      | 302/900 [28:47<41:34,  4.17s/it]
 34%|███▎      | 303/900 [28:47<30:04,  3.02s/it]
 34%|███▍      | 304/900 [28:47<22:00,  2.22s/it]
 34%|███▍      | 305/900 [29:33<2:32:06, 15.34s/it]
 34%|███▍      | 306/900 [29:34<1:47:17, 10.84s/it]
 34%|███▍      | 307/900 [29:34<1:15:56,  7.68s/it]
 34%|███▍      | 308/900 [29:34<53:59,  5.47s/it]  
 34%|███▍      | 309/900 [29:35<38:40,  3.93s/it]
 34%|███▍      | 310/900 [29:35<27:56,  2.84s/it]
 35%|███▍      | 311/900 [29:35<20:26,  2.08s/it]
 35%|███▍      | 312/900 [29:36<15:11,  1.55s/it]
 35%|███▍      | 313/900 [30:15<2:06:51, 12.97s/it]
 35%|███▍      | 314/900 [30:15<1:29:34,  9.17s/it]
 35%|███▌      | 315/900 [30:16<1:03:30,  6.51s/it]
 35%|███▌      | 316/900 [30:16<45:17,  4.65s/it]  
 35%|███▌      | 317/900 [30:16<32:33,  3.35s/it]
 35%|███▌      | 318/900 [30:17<23:38,  2.44s/it]
 35%|███▌      | 319/900 [30:17<17:24,  1.80s/it]
 36%|███▌      | 320/900 [30:17<13:03,  1.35s/it]
 36%|███▌      | 321/900 [31:18<3:03:45, 19.04s/it]
 36%|███▌      | 322/900 [31:18<2:09:19, 13.42s/it]
 36%|███▌      | 323/900 [31:18<1:31:15,  9.49s/it]
 36%|███▌      | 324/900 [31:19<1:04:40,  6.74s/it]
 36%|███▌      | 325/900 [31:19<46:05,  4.81s/it]  
 36%|███▌      | 326/900 [31:19<33:06,  3.46s/it]
 36%|███▋      | 327/900 [31:19<24:02,  2.52s/it]
 36%|███▋      | 328/900 [31:20<17:40,  1.85s/it]
 37%|███▋      | 329/900 [32:16<2:53:49, 18.27s/it]
 37%|███▋      | 330/900 [32:17<2:02:20, 12.88s/it]
 37%|███▋      | 331/900 [32:17<1:26:21,  9.11s/it]
 37%|███▋      | 332/900 [32:17<1:01:13,  6.47s/it]
 37%|███▋      | 333/900 [32:18<43:39,  4.62s/it]  
 37%|███▋      | 334/900 [32:18<31:23,  3.33s/it]
 37%|███▋      | 335/900 [32:18<22:47,  2.42s/it]
 37%|███▋      | 336/900 [32:19<16:48,  1.79s/it]
 37%|███▋      | 337/900 [34:27<6:13:20, 39.79s/it]
 38%|███▊      | 338/900 [34:27<4:21:44, 27.94s/it]
 38%|███▊      | 339/900 [34:28<3:03:45, 19.65s/it]
 38%|███▊      | 340/900 [34:28<2:09:15, 13.85s/it]
 38%|███▊      | 341/900 [34:28<1:31:10,  9.79s/it]
 38%|███▊      | 342/900 [34:29<1:04:34,  6.94s/it]
 38%|███▊      | 343/900 [34:29<45:58,  4.95s/it]  
 38%|███▊      | 344/900 [34:29<32:59,  3.56s/it]
 38%|███▊      | 345/900 [36:17<5:21:32, 34.76s/it]
 38%|███▊      | 346/900 [36:17<3:45:37, 24.44s/it]
 39%|███▊      | 347/900 [36:17<2:38:35, 17.21s/it]
 39%|███▊      | 348/900 [36:18<1:51:43, 12.14s/it]
 39%|███▉      | 349/900 [36:18<1:18:58,  8.60s/it]
 39%|███▉      | 350/900 [36:18<56:06,  6.12s/it]  
 39%|███▉      | 351/900 [36:19<40:08,  4.39s/it]
 39%|███▉      | 352/900 [36:19<29:00,  3.18s/it]
 39%|███▉      | 353/900 [37:00<2:11:48, 14.46s/it]
 39%|███▉      | 354/900 [37:00<1:32:57, 10.22s/it]
 39%|███▉      | 355/900 [37:00<1:05:50,  7.25s/it]
 40%|███▉      | 356/900 [37:01<46:50,  5.17s/it]  
 40%|███▉      | 357/900 [37:01<33:36,  3.71s/it]
 40%|███▉      | 358/900 [37:01<24:19,  2.69s/it]
 40%|███▉      | 359/900 [37:02<17:51,  1.98s/it]
 40%|████      | 360/900 [37:02<13:19,  1.48s/it]
 40%|████      | 361/900 [38:04<2:57:14, 19.73s/it]
 40%|████      | 362/900 [38:05<2:04:40, 13.90s/it]
 40%|████      | 363/900 [38:05<1:27:58,  9.83s/it]
 40%|████      | 364/900 [38:05<1:02:19,  6.98s/it]
 41%|████      | 365/900 [38:06<44:24,  4.98s/it]  
 41%|████      | 366/900 [38:06<31:55,  3.59s/it]
 41%|████      | 367/900 [38:06<23:09,  2.61s/it]
 41%|████      | 368/900 [38:07<17:04,  1.93s/it]
 41%|████      | 369/900 [39:12<3:06:38, 21.09s/it]
 41%|████      | 370/900 [39:13<2:11:17, 14.86s/it]
 41%|████      | 371/900 [39:13<1:32:37, 10.51s/it]
 41%|████▏     | 372/900 [39:13<1:05:36,  7.46s/it]
 41%|████▏     | 373/900 [39:14<46:44,  5.32s/it]  
 42%|████▏     | 374/900 [39:14<33:31,  3.82s/it]
 42%|████▏     | 375/900 [39:14<24:18,  2.78s/it]
 42%|████▏     | 376/900 [39:15<17:53,  2.05s/it]
 42%|████▏     | 377/900 [41:58<7:19:04, 50.37s/it]
 42%|████▏     | 378/900 [41:58<5:07:37, 35.36s/it]
 42%|████▏     | 379/900 [41:59<3:35:46, 24.85s/it]
 42%|████▏     | 380/900 [41:59<2:31:33, 17.49s/it]
 42%|████▏     | 381/900 [41:59<1:46:42, 12.34s/it]
 42%|████▏     | 382/900 [42:00<1:15:21,  8.73s/it]
 43%|████▎     | 383/900 [42:00<53:27,  6.20s/it]  
 43%|████▎     | 384/900 [42:00<38:08,  4.43s/it]
 43%|████▎     | 385/900 [44:01<5:38:46, 39.47s/it]
 43%|████▎     | 386/900 [44:02<3:57:29, 27.72s/it]
 43%|████▎     | 387/900 [44:02<2:46:43, 19.50s/it]
 43%|████▎     | 388/900 [44:02<1:57:16, 13.74s/it]
 43%|████▎     | 389/900 [44:03<1:22:43,  9.71s/it]
 43%|████▎     | 390/900 [44:03<58:34,  6.89s/it]  
 43%|████▎     | 391/900 [44:03<41:42,  4.92s/it]
 44%|████▎     | 392/900 [44:04<29:55,  3.53s/it]
 44%|████▎     | 393/900 [46:06<5:30:57, 39.17s/it]
 44%|████▍     | 394/900 [46:06<3:51:59, 27.51s/it]
 44%|████▍     | 395/900 [46:06<2:42:52, 19.35s/it]
 44%|████▍     | 396/900 [46:07<1:54:37, 13.65s/it]
 44%|████▍     | 397/900 [46:07<1:20:55,  9.65s/it]
 44%|████▍     | 398/900 [46:07<57:21,  6.86s/it]  
 44%|████▍     | 399/900 [46:08<40:53,  4.90s/it]
 44%|████▍     | 400/900 [46:08<29:23,  3.53s/it]
 45%|████▍     | 401/900 [48:01<5:02:17, 36.35s/it]
 45%|████▍     | 402/900 [48:01<3:32:01, 25.55s/it]
 45%|████▍     | 403/900 [48:02<2:28:56, 17.98s/it]
 45%|████▍     | 404/900 [48:02<1:44:52, 12.69s/it]
 45%|████▌     | 405/900 [48:02<1:14:04,  8.98s/it]
 45%|████▌     | 406/900 [48:03<52:34,  6.38s/it]  
 45%|████▌     | 407/900 [48:03<37:32,  4.57s/it]
 45%|████▌     | 408/900 [48:03<27:06,  3.31s/it]
 45%|████▌     | 409/900 [49:08<2:56:49, 21.61s/it]
 46%|████▌     | 410/900 [49:08<2:04:22, 15.23s/it]
 46%|████▌     | 411/900 [49:08<1:27:43, 10.76s/it]
 46%|████▌     | 412/900 [49:09<1:02:07,  7.64s/it]
 46%|████▌     | 413/900 [49:09<44:14,  5.45s/it]  
 46%|████▌     | 414/900 [49:09<31:43,  3.92s/it]
 46%|████▌     | 415/900 [49:10<22:59,  2.84s/it]
 46%|████▌     | 416/900 [49:10<16:53,  2.09s/it]
 46%|████▋     | 417/900 [50:11<2:39:52, 19.86s/it]
 46%|████▋     | 418/900 [50:12<1:52:30, 14.01s/it]
 47%|████▋     | 419/900 [50:12<1:19:24,  9.91s/it]
 47%|████▋     | 420/900 [50:12<56:16,  7.04s/it]  
 47%|████▋     | 421/900 [50:13<40:06,  5.02s/it]
 47%|████▋     | 422/900 [50:13<28:49,  3.62s/it]
 47%|████▋     | 423/900 [50:13<20:56,  2.63s/it]
 47%|████▋     | 424/900 [50:14<15:27,  1.95s/it]
 47%|████▋     | 425/900 [50:51<1:38:43, 12.47s/it]
 47%|████▋     | 426/900 [50:51<1:09:45,  8.83s/it]
 47%|████▋     | 427/900 [50:52<49:28,  6.28s/it]  
 48%|████▊     | 428/900 [50:52<35:18,  4.49s/it]
 48%|████▊     | 429/900 [50:52<25:25,  3.24s/it]
 48%|████▊     | 430/900 [50:52<18:29,  2.36s/it]
 48%|████▊     | 431/900 [50:53<13:38,  1.75s/it]
 48%|████▊     | 432/900 [50:53<10:15,  1.32s/it]
 48%|████▊     | 433/900 [52:35<4:05:09, 31.50s/it]
 48%|████▊     | 434/900 [52:35<2:51:57, 22.14s/it]
 48%|████▊     | 435/900 [52:36<2:00:50, 15.59s/it]
 48%|████▊     | 436/900 [52:36<1:25:08, 11.01s/it]
 49%|████▊     | 437/900 [52:36<1:00:12,  7.80s/it]
 49%|████▊     | 438/900 [52:37<42:47,  5.56s/it]  
 49%|████▉     | 439/900 [52:37<30:36,  3.98s/it]
 49%|████▉     | 440/900 [52:37<22:07,  2.89s/it]
 49%|████▉     | 441/900 [53:26<2:08:25, 16.79s/it]
 49%|████▉     | 442/900 [53:27<1:30:25, 11.85s/it]
 49%|████▉     | 443/900 [53:27<1:03:52,  8.39s/it]
 49%|████▉     | 444/900 [53:27<45:18,  5.96s/it]  
 49%|████▉     | 445/900 [53:28<32:21,  4.27s/it]
 50%|████▉     | 446/900 [53:28<23:18,  3.08s/it]
 50%|████▉     | 447/900 [53:28<16:59,  2.25s/it]
 50%|████▉     | 448/900 [53:29<12:34,  1.67s/it]
 50%|████▉     | 449/900 [54:27<2:20:33, 18.70s/it]
 50%|█████     | 450/900 [54:27<1:38:53, 13.19s/it]
 50%|█████     | 451/900 [54:28<1:09:48,  9.33s/it]
 50%|█████     | 452/900 [54:28<49:27,  6.62s/it]  
 50%|█████     | 453/900 [54:28<35:14,  4.73s/it]
 50%|█████     | 454/900 [54:29<25:18,  3.40s/it]
 51%|█████     | 455/900 [54:29<18:21,  2.47s/it]
 51%|█████     | 456/900 [54:29<13:32,  1.83s/it]
 51%|█████     | 457/900 [55:20<2:01:01, 16.39s/it]
 51%|█████     | 458/900 [55:20<1:25:13, 11.57s/it]
 51%|█████     | 459/900 [55:20<1:00:13,  8.19s/it]
 51%|█████     | 460/900 [55:21<42:45,  5.83s/it]  
 51%|█████     | 461/900 [55:21<30:33,  4.18s/it]
 51%|█████▏    | 462/900 [55:21<22:00,  3.02s/it]
 51%|█████▏    | 463/900 [55:22<16:02,  2.20s/it]
 52%|█████▏    | 464/900 [55:22<11:53,  1.64s/it]
 52%|█████▏    | 465/900 [56:02<1:36:39, 13.33s/it]
 52%|█████▏    | 466/900 [56:03<1:08:11,  9.43s/it]
 52%|█████▏    | 467/900 [56:03<48:17,  6.69s/it]  
 52%|█████▏    | 468/900 [56:03<34:24,  4.78s/it]
 52%|█████▏    | 469/900 [56:04<24:40,  3.44s/it]
 52%|█████▏    | 470/900 [56:04<17:54,  2.50s/it]
 52%|█████▏    | 471/900 [56:04<13:11,  1.84s/it]
 52%|█████▏    | 472/900 [56:05<09:57,  1.40s/it]
 53%|█████▎    | 473/900 [56:50<1:44:19, 14.66s/it]
 53%|█████▎    | 474/900 [56:51<1:13:36, 10.37s/it]
 53%|█████▎    | 475/900 [56:51<52:08,  7.36s/it]  
 53%|█████▎    | 476/900 [56:51<37:08,  5.26s/it]
 53%|█████▎    | 477/900 [56:52<26:39,  3.78s/it]
 53%|█████▎    | 478/900 [56:52<19:18,  2.75s/it]
 53%|█████▎    | 479/900 [56:52<14:11,  2.02s/it]
 53%|█████▎    | 480/900 [56:53<10:37,  1.52s/it]
 53%|█████▎    | 481/900 [57:37<1:40:14, 14.36s/it]
 54%|█████▎    | 482/900 [57:37<1:10:44, 10.15s/it]
 54%|█████▎    | 483/900 [57:38<50:08,  7.21s/it]  
 54%|█████▍    | 484/900 [57:38<35:43,  5.15s/it]
 54%|█████▍    | 485/900 [57:38<25:39,  3.71s/it]
 54%|█████▍    | 486/900 [57:39<18:37,  2.70s/it]
 54%|█████▍    | 487/900 [57:39<13:42,  1.99s/it]
 54%|█████▍    | 488/900 [57:39<10:16,  1.50s/it]
 54%|█████▍    | 489/900 [58:33<1:56:51, 17.06s/it]
 54%|█████▍    | 490/900 [58:33<1:22:17, 12.04s/it]
 55%|█████▍    | 491/900 [58:33<58:09,  8.53s/it]  
 55%|█████▍    | 492/900 [58:34<41:17,  6.07s/it]
 55%|█████▍    | 493/900 [58:34<29:30,  4.35s/it]
 55%|█████▍    | 494/900 [58:34<21:17,  3.15s/it]
 55%|█████▌    | 495/900 [58:35<15:32,  2.30s/it]
 55%|█████▌    | 496/900 [58:35<11:30,  1.71s/it]
 55%|█████▌    | 497/900 [1:01:34<6:09:20, 54.99s/it]
 55%|█████▌    | 498/900 [1:01:35<4:18:33, 38.59s/it]
 55%|█████▌    | 499/900 [1:01:35<3:01:11, 27.11s/it]
 56%|█████▌    | 500/900 [1:01:36<2:08:06, 19.22s/it]
 56%|█████▌    | 501/900 [1:01:36<1:30:07, 13.55s/it]
 56%|█████▌    | 502/900 [1:01:37<1:03:35,  9.59s/it]
 56%|█████▌    | 503/900 [1:01:37<45:04,  6.81s/it]  
 56%|█████▌    | 504/900 [1:01:37<32:08,  4.87s/it]
 56%|█████▌    | 505/900 [1:02:31<2:08:07, 19.46s/it]
 56%|█████▌    | 506/900 [1:02:31<1:30:07, 13.73s/it]
 56%|█████▋    | 507/900 [1:02:31<1:03:35,  9.71s/it]
 56%|█████▋    | 508/900 [1:02:32<45:04,  6.90s/it]  
 57%|█████▋    | 509/900 [1:02:32<32:07,  4.93s/it]
 57%|█████▋    | 510/900 [1:02:32<23:04,  3.55s/it]
 57%|█████▋    | 511/900 [1:02:33<16:45,  2.58s/it]
 57%|█████▋    | 512/900 [1:02:33<12:20,  1.91s/it]
 57%|█████▋    | 513/900 [1:03:23<1:45:07, 16.30s/it]
 57%|█████▋    | 514/900 [1:03:23<1:14:00, 11.50s/it]
 57%|█████▋    | 515/900 [1:03:24<52:15,  8.14s/it]  
 57%|█████▋    | 516/900 [1:03:24<37:04,  5.79s/it]
 57%|█████▋    | 517/900 [1:03:24<26:28,  4.15s/it]
 58%|█████▊    | 518/900 [1:03:24<19:04,  3.00s/it]
 58%|█████▊    | 519/900 [1:03:25<13:54,  2.19s/it]
 58%|█████▊    | 520/900 [1:03:25<10:18,  1.63s/it]
 58%|█████▊    | 521/900 [1:04:47<2:43:17, 25.85s/it]
 58%|█████▊    | 522/900 [1:04:48<1:54:35, 18.19s/it]
 58%|█████▊    | 523/900 [1:04:48<1:20:35, 12.83s/it]
 58%|█████▊    | 524/900 [1:04:48<56:51,  9.07s/it]  
 58%|█████▊    | 525/900 [1:04:49<40:16,  6.44s/it]
 58%|█████▊    | 526/900 [1:04:49<28:42,  4.60s/it]
 59%|█████▊    | 527/900 [1:04:49<20:37,  3.32s/it]
 59%|█████▊    | 528/900 [1:04:50<14:58,  2.42s/it]
 59%|█████▉    | 529/900 [1:06:16<2:50:26, 27.57s/it]
 59%|█████▉    | 530/900 [1:06:16<1:59:33, 19.39s/it]
 59%|█████▉    | 531/900 [1:06:17<1:24:01, 13.66s/it]
 59%|█████▉    | 532/900 [1:06:17<59:14,  9.66s/it]  
 59%|█████▉    | 533/900 [1:06:17<41:55,  6.85s/it]
 59%|█████▉    | 534/900 [1:06:17<29:50,  4.89s/it]
 59%|█████▉    | 535/900 [1:06:18<21:23,  3.52s/it]
 60%|█████▉    | 536/900 [1:06:18<15:29,  2.55s/it]
 60%|█████▉    | 537/900 [1:09:48<6:32:07, 64.81s/it]
 60%|█████▉    | 538/900 [1:09:48<4:34:17, 45.46s/it]
 60%|█████▉    | 539/900 [1:09:49<3:12:01, 31.91s/it]
 60%|██████    | 540/900 [1:09:49<2:14:35, 22.43s/it]
 60%|██████    | 541/900 [1:09:49<1:34:30, 15.80s/it]
 60%|██████    | 542/900 [1:09:50<1:06:31, 11.15s/it]
 60%|██████    | 543/900 [1:09:50<46:59,  7.90s/it]  
 60%|██████    | 544/900 [1:09:50<33:20,  5.62s/it]
 61%|██████    | 545/900 [1:11:39<3:35:23, 36.40s/it]
 61%|██████    | 546/900 [1:11:39<2:30:54, 25.58s/it]
 61%|██████    | 547/900 [1:11:39<1:45:52, 18.00s/it]
 61%|██████    | 548/900 [1:11:40<1:14:26, 12.69s/it]
 61%|██████    | 549/900 [1:11:40<52:29,  8.97s/it]  
 61%|██████    | 550/900 [1:11:40<37:10,  6.37s/it]
 61%|██████    | 551/900 [1:11:40<26:29,  4.55s/it]
 61%|██████▏   | 552/900 [1:11:41<19:03,  3.29s/it]
 61%|██████▏   | 553/900 [1:12:56<2:23:53, 24.88s/it]
 62%|██████▏   | 554/900 [1:12:56<1:41:00, 17.52s/it]
 62%|██████▏   | 555/900 [1:12:57<1:11:03, 12.36s/it]
 62%|██████▏   | 556/900 [1:12:57<50:07,  8.74s/it]  
 62%|██████▏   | 557/900 [1:12:57<35:31,  6.21s/it]
 62%|██████▏   | 558/900 [1:12:58<25:20,  4.45s/it]
 62%|██████▏   | 559/900 [1:12:58<18:14,  3.21s/it]
 62%|██████▏   | 560/900 [1:12:58<13:16,  2.34s/it]
 62%|██████▏   | 561/900 [1:14:45<3:09:32, 33.55s/it]
 62%|██████▏   | 562/900 [1:14:45<2:12:51, 23.59s/it]
 63%|██████▎   | 563/900 [1:14:45<1:33:17, 16.61s/it]
 63%|██████▎   | 564/900 [1:14:46<1:05:39, 11.73s/it]
 63%|██████▎   | 565/900 [1:14:46<46:23,  8.31s/it]  
 63%|██████▎   | 566/900 [1:14:46<32:55,  5.92s/it]
 63%|██████▎   | 567/900 [1:14:47<23:33,  4.24s/it]
 63%|██████▎   | 568/900 [1:14:47<16:59,  3.07s/it]
 63%|██████▎   | 569/900 [1:15:50<1:56:29, 21.12s/it]
 63%|██████▎   | 570/900 [1:15:51<1:21:51, 14.88s/it]
 63%|██████▎   | 571/900 [1:15:51<57:40, 10.52s/it]  
 64%|██████▎   | 572/900 [1:15:51<40:48,  7.47s/it]
 64%|██████▎   | 573/900 [1:15:52<29:01,  5.33s/it]
 64%|██████▍   | 574/900 [1:15:52<20:48,  3.83s/it]
 64%|██████▍   | 575/900 [1:15:52<15:03,  2.78s/it]
 64%|██████▍   | 576/900 [1:15:53<11:00,  2.04s/it]
 64%|██████▍   | 577/900 [1:17:32<2:48:51, 31.37s/it]
 64%|██████▍   | 578/900 [1:17:33<1:58:22, 22.06s/it]
 64%|██████▍   | 579/900 [1:17:33<1:23:08, 15.54s/it]
 64%|██████▍   | 580/900 [1:17:33<58:31, 10.97s/it]  
 65%|██████▍   | 581/900 [1:17:34<41:21,  7.78s/it]
 65%|██████▍   | 582/900 [1:17:34<29:22,  5.54s/it]
 65%|██████▍   | 583/900 [1:17:34<21:01,  3.98s/it]
 65%|██████▍   | 584/900 [1:17:35<15:11,  2.89s/it]
 65%|██████▌   | 585/900 [1:18:36<1:48:01, 20.58s/it]
 65%|██████▌   | 586/900 [1:18:37<1:15:54, 14.51s/it]
 65%|██████▌   | 587/900 [1:18:37<53:30, 10.26s/it]  
 65%|██████▌   | 588/900 [1:18:37<37:51,  7.28s/it]
 65%|██████▌   | 589/900 [1:18:38<26:56,  5.20s/it]
 66%|██████▌   | 590/900 [1:18:38<19:19,  3.74s/it]
 66%|██████▌   | 591/900 [1:18:39<14:01,  2.72s/it]
 66%|██████▌   | 592/900 [1:18:39<10:18,  2.01s/it]
 66%|██████▌   | 593/900 [1:19:56<2:04:59, 24.43s/it]
 66%|██████▌   | 594/900 [1:19:56<1:27:42, 17.20s/it]
 66%|██████▌   | 595/900 [1:19:56<1:01:41, 12.14s/it]
 66%|██████▌   | 596/900 [1:19:57<43:31,  8.59s/it]  
 66%|██████▋   | 597/900 [1:19:57<30:50,  6.11s/it]
 66%|██████▋   | 598/900 [1:19:57<21:59,  4.37s/it]
 67%|██████▋   | 599/900 [1:19:58<15:50,  3.16s/it]
 67%|██████▋   | 600/900 [1:19:58<11:32,  2.31s/it]
 67%|██████▋   | 601/900 [1:21:05<1:48:04, 21.69s/it]
 67%|██████▋   | 602/900 [1:21:05<1:15:51, 15.27s/it]
 67%|██████▋   | 603/900 [1:21:05<53:23, 10.79s/it]  
 67%|██████▋   | 604/900 [1:21:06<37:42,  7.64s/it]
 67%|██████▋   | 605/900 [1:21:06<26:45,  5.44s/it]
 67%|██████▋   | 606/900 [1:21:06<19:06,  3.90s/it]
 67%|██████▋   | 607/900 [1:21:07<13:48,  2.83s/it]
 68%|██████▊   | 608/900 [1:21:07<10:05,  2.07s/it]
 68%|██████▊   | 609/900 [1:22:24<1:58:29, 24.43s/it]
 68%|██████▊   | 610/900 [1:22:24<1:23:09, 17.21s/it]
 68%|██████▊   | 611/900 [1:22:24<58:28, 12.14s/it]  
 68%|██████▊   | 612/900 [1:22:25<41:13,  8.59s/it]
 68%|██████▊   | 613/900 [1:22:25<29:12,  6.11s/it]
 68%|██████▊   | 614/900 [1:22:25<20:49,  4.37s/it]
 68%|██████▊   | 615/900 [1:22:25<14:59,  3.15s/it]
 68%|██████▊   | 616/900 [1:22:26<10:53,  2.30s/it]
 69%|██████▊   | 617/900 [1:24:13<2:39:16, 33.77s/it]
 69%|██████▊   | 618/900 [1:24:13<1:51:32, 23.73s/it]
 69%|██████▉   | 619/900 [1:24:14<1:18:14, 16.71s/it]
 69%|██████▉   | 620/900 [1:24:14<55:01, 11.79s/it]  
 69%|██████▉   | 621/900 [1:24:14<38:48,  8.35s/it]
 69%|██████▉   | 622/900 [1:24:15<27:31,  5.94s/it]
 69%|██████▉   | 623/900 [1:24:15<19:37,  4.25s/it]
 69%|██████▉   | 624/900 [1:24:15<14:07,  3.07s/it]
 69%|██████▉   | 625/900 [1:25:26<1:46:53, 23.32s/it]
 70%|██████▉   | 626/900 [1:25:26<1:14:59, 16.42s/it]
 70%|██████▉   | 627/900 [1:25:26<52:45, 11.59s/it]  
 70%|██████▉   | 628/900 [1:25:27<37:14,  8.21s/it]
 70%|██████▉   | 629/900 [1:25:27<26:24,  5.85s/it]
 70%|███████   | 630/900 [1:25:27<18:51,  4.19s/it]
 70%|███████   | 631/900 [1:25:28<13:35,  3.03s/it]
 70%|███████   | 632/900 [1:25:28<09:54,  2.22s/it]
 70%|███████   | 633/900 [1:26:16<1:11:35, 16.09s/it]
 70%|███████   | 634/900 [1:26:17<50:23, 11.37s/it]  
 71%|███████   | 635/900 [1:26:17<35:36,  8.06s/it]
 71%|███████   | 636/900 [1:26:18<25:17,  5.75s/it]
 71%|███████   | 637/900 [1:26:18<18:04,  4.12s/it]
 71%|███████   | 638/900 [1:26:18<13:03,  2.99s/it]
 71%|███████   | 639/900 [1:26:19<09:33,  2.20s/it]
 71%|███████   | 640/900 [1:26:19<07:07,  1.65s/it]
 71%|███████   | 641/900 [1:27:06<1:06:24, 15.38s/it]
 71%|███████▏  | 642/900 [1:27:07<46:45, 10.88s/it]  
 71%|███████▏  | 643/900 [1:27:07<33:03,  7.72s/it]
 72%|███████▏  | 644/900 [1:27:07<23:29,  5.51s/it]
 72%|███████▏  | 645/900 [1:27:08<16:47,  3.95s/it]
 72%|███████▏  | 646/900 [1:27:08<12:05,  2.86s/it]
 72%|███████▏  | 647/900 [1:27:08<08:49,  2.09s/it]
 72%|███████▏  | 648/900 [1:27:09<06:32,  1.56s/it]
 72%|███████▏  | 649/900 [1:28:32<1:49:06, 26.08s/it]
 72%|███████▏  | 650/900 [1:28:32<1:16:28, 18.36s/it]
 72%|███████▏  | 651/900 [1:28:33<53:42, 12.94s/it]  
 72%|███████▏  | 652/900 [1:28:33<37:50,  9.15s/it]
 73%|███████▎  | 653/900 [1:28:33<26:45,  6.50s/it]
 73%|███████▎  | 654/900 [1:28:34<19:02,  4.64s/it]
 73%|███████▎  | 655/900 [1:28:34<13:39,  3.34s/it]
 73%|███████▎  | 656/900 [1:28:34<09:54,  2.43s/it]
 73%|███████▎  | 657/900 [1:30:06<1:58:06, 29.16s/it]
 73%|███████▎  | 658/900 [1:30:06<1:22:42, 20.51s/it]
 73%|███████▎  | 659/900 [1:30:06<58:01, 14.45s/it]  
 73%|███████▎  | 660/900 [1:30:07<40:49, 10.21s/it]
 73%|███████▎  | 661/900 [1:30:07<28:49,  7.24s/it]
 74%|███████▎  | 662/900 [1:30:07<20:27,  5.16s/it]
 74%|███████▎  | 663/900 [1:30:08<14:37,  3.70s/it]
 74%|███████▍  | 664/900 [1:30:08<10:33,  2.68s/it]
 74%|███████▍  | 665/900 [1:32:16<2:37:52, 40.31s/it]
 74%|███████▍  | 666/900 [1:32:16<1:50:25, 28.31s/it]
 74%|███████▍  | 667/900 [1:32:17<1:17:19, 19.91s/it]
 74%|███████▍  | 668/900 [1:32:17<54:15, 14.03s/it]  
 74%|███████▍  | 669/900 [1:32:17<38:10,  9.92s/it]
 74%|███████▍  | 670/900 [1:32:18<26:58,  7.04s/it]
 75%|███████▍  | 671/900 [1:32:18<19:09,  5.02s/it]
 75%|███████▍  | 672/900 [1:32:18<13:42,  3.61s/it]
 75%|███████▍  | 673/900 [1:35:03<3:16:44, 52.00s/it]
 75%|███████▍  | 674/900 [1:35:03<2:17:27, 36.49s/it]
 75%|███████▌  | 675/900 [1:35:04<1:36:08, 25.64s/it]
 75%|███████▌  | 676/900 [1:35:04<1:07:20, 18.04s/it]
 75%|███████▌  | 677/900 [1:35:04<47:16, 12.72s/it]  
 75%|███████▌  | 678/900 [1:35:05<33:17,  9.00s/it]
 75%|███████▌  | 679/900 [1:35:05<23:32,  6.39s/it]
 76%|███████▌  | 680/900 [1:35:05<16:44,  4.57s/it]
 76%|███████▌  | 681/900 [1:35:55<1:05:59, 18.08s/it]
 76%|███████▌  | 682/900 [1:35:55<46:19, 12.75s/it]  
 76%|███████▌  | 683/900 [1:35:55<32:37,  9.02s/it]
 76%|███████▌  | 684/900 [1:35:56<23:05,  6.41s/it]
 76%|███████▌  | 685/900 [1:35:56<16:25,  4.58s/it]
 76%|███████▌  | 686/900 [1:35:56<11:47,  3.30s/it]
 76%|███████▋  | 687/900 [1:35:57<08:32,  2.41s/it]
 76%|███████▋  | 688/900 [1:35:57<06:17,  1.78s/it]
 77%|███████▋  | 689/900 [1:36:52<1:01:50, 17.59s/it]
 77%|███████▋  | 690/900 [1:36:52<43:26, 12.41s/it]  
 77%|███████▋  | 691/900 [1:36:52<30:37,  8.79s/it]
 77%|███████▋  | 692/900 [1:36:53<21:40,  6.25s/it]
 77%|███████▋  | 693/900 [1:36:53<15:27,  4.48s/it]
 77%|███████▋  | 694/900 [1:36:53<11:07,  3.24s/it]
 77%|███████▋  | 695/900 [1:36:54<08:05,  2.37s/it]
 77%|███████▋  | 696/900 [1:36:54<05:59,  1.76s/it]
 77%|███████▋  | 697/900 [1:39:41<2:54:03, 51.44s/it]
 78%|███████▊  | 698/900 [1:39:42<2:01:34, 36.11s/it]
 78%|███████▊  | 699/900 [1:39:42<1:25:00, 25.38s/it]
 78%|███████▊  | 700/900 [1:39:42<59:32, 17.86s/it]  
 78%|███████▊  | 701/900 [1:39:43<41:48, 12.60s/it]
 78%|███████▊  | 702/900 [1:39:43<29:26,  8.92s/it]
 78%|███████▊  | 703/900 [1:39:43<20:50,  6.35s/it]
 78%|███████▊  | 704/900 [1:39:44<14:49,  4.54s/it]
 78%|███████▊  | 705/900 [1:40:30<55:48, 17.17s/it]
 78%|███████▊  | 706/900 [1:40:31<39:10, 12.12s/it]
 79%|███████▊  | 707/900 [1:40:31<27:35,  8.58s/it]
 79%|███████▊  | 708/900 [1:40:31<19:31,  6.10s/it]
 79%|███████▉  | 709/900 [1:40:32<13:54,  4.37s/it]
 79%|███████▉  | 710/900 [1:40:32<09:59,  3.16s/it]
 79%|███████▉  | 711/900 [1:40:32<07:15,  2.31s/it]
 79%|███████▉  | 712/900 [1:40:33<05:21,  1.71s/it]
 79%|███████▉  | 713/900 [1:42:49<2:11:23, 42.16s/it]
 79%|███████▉  | 714/900 [1:42:49<1:31:48, 29.62s/it]
 79%|███████▉  | 715/900 [1:42:50<1:04:14, 20.84s/it]
 80%|███████▉  | 716/900 [1:42:50<45:02, 14.69s/it]  
 80%|███████▉  | 717/900 [1:42:50<31:40, 10.39s/it]
 80%|███████▉  | 718/900 [1:42:51<22:21,  7.37s/it]
 80%|███████▉  | 719/900 [1:42:51<15:51,  5.26s/it]
 80%|████████  | 720/900 [1:42:51<11:19,  3.77s/it]
 80%|████████  | 721/900 [1:44:08<1:16:11, 25.54s/it]
 80%|████████  | 722/900 [1:44:08<53:18, 17.97s/it]  
 80%|████████  | 723/900 [1:44:08<37:23, 12.68s/it]
 80%|████████  | 724/900 [1:44:09<26:18,  8.97s/it]
 81%|████████  | 725/900 [1:44:09<18:34,  6.37s/it]
 81%|████████  | 726/900 [1:44:09<13:12,  4.56s/it]
 81%|████████  | 727/900 [1:44:10<09:28,  3.28s/it]
 81%|████████  | 728/900 [1:44:10<06:51,  2.39s/it]
 81%|████████  | 729/900 [1:45:20<1:05:00, 22.81s/it]
 81%|████████  | 730/900 [1:45:21<45:32, 16.07s/it]  
 81%|████████  | 731/900 [1:45:21<31:57, 11.35s/it]
 81%|████████▏ | 732/900 [1:45:21<22:30,  8.04s/it]
 81%|████████▏ | 733/900 [1:45:22<15:55,  5.72s/it]
 82%|████████▏ | 734/900 [1:45:22<11:20,  4.10s/it]
 82%|████████▏ | 735/900 [1:45:22<08:08,  2.96s/it]
 82%|████████▏ | 736/900 [1:45:23<05:55,  2.17s/it]
 82%|████████▏ | 737/900 [1:46:52<1:16:57, 28.33s/it]
 82%|████████▏ | 738/900 [1:46:52<53:47, 19.92s/it]  
 82%|████████▏ | 739/900 [1:46:53<37:40, 14.04s/it]
 82%|████████▏ | 740/900 [1:46:53<26:27,  9.92s/it]
 82%|████████▏ | 741/900 [1:46:53<18:38,  7.04s/it]
 82%|████████▏ | 742/900 [1:46:54<13:13,  5.02s/it]
 83%|████████▎ | 743/900 [1:46:54<09:26,  3.61s/it]
 83%|████████▎ | 744/900 [1:46:54<06:49,  2.63s/it]
 83%|████████▎ | 745/900 [1:47:43<42:47, 16.57s/it]
 83%|████████▎ | 746/900 [1:47:44<30:01, 11.70s/it]
 83%|████████▎ | 747/900 [1:47:44<21:08,  8.29s/it]
 83%|████████▎ | 748/900 [1:47:44<14:56,  5.90s/it]
 83%|████████▎ | 749/900 [1:47:45<10:38,  4.23s/it]
 83%|████████▎ | 750/900 [1:47:45<07:40,  3.07s/it]
 83%|████████▎ | 751/900 [1:47:45<05:34,  2.25s/it]
 84%|████████▎ | 752/900 [1:47:46<04:07,  1.67s/it]
 84%|████████▎ | 753/900 [1:51:57<3:07:50, 76.67s/it]
 84%|████████▍ | 754/900 [1:51:58<2:10:51, 53.78s/it]
 84%|████████▍ | 755/900 [1:51:58<1:31:13, 37.75s/it]
 84%|████████▍ | 756/900 [1:51:58<1:03:39, 26.52s/it]
 84%|████████▍ | 757/900 [1:51:59<44:29, 18.67s/it]  
 84%|████████▍ | 758/900 [1:51:59<31:09, 13.16s/it]
 84%|████████▍ | 759/900 [1:51:59<21:52,  9.31s/it]
 84%|████████▍ | 760/900 [1:52:00<15:25,  6.61s/it]
 85%|████████▍ | 761/900 [1:56:00<2:57:48, 76.75s/it]
 85%|████████▍ | 762/900 [1:56:00<2:03:47, 53.82s/it]
 85%|████████▍ | 763/900 [1:56:01<1:26:14, 37.77s/it]
 85%|████████▍ | 764/900 [1:56:01<1:00:08, 26.53s/it]
 85%|████████▌ | 765/900 [1:56:01<42:00, 18.67s/it]  
 85%|████████▌ | 766/900 [1:56:02<29:23, 13.16s/it]
 85%|████████▌ | 767/900 [1:56:02<20:37,  9.31s/it]
 85%|████████▌ | 768/900 [1:56:02<14:32,  6.61s/it]
 85%|████████▌ | 769/900 [1:57:21<1:01:53, 28.35s/it]
 86%|████████▌ | 770/900 [1:57:22<43:11, 19.94s/it]  
 86%|████████▌ | 771/900 [1:57:22<30:12, 14.05s/it]
 86%|████████▌ | 772/900 [1:57:22<21:10,  9.93s/it]
 86%|████████▌ | 773/900 [1:57:23<14:54,  7.04s/it]
 86%|████████▌ | 774/900 [1:57:23<10:32,  5.02s/it]
 86%|████████▌ | 775/900 [1:57:23<07:30,  3.61s/it]
 86%|████████▌ | 776/900 [1:57:24<05:24,  2.62s/it]
 86%|████████▋ | 777/900 [1:58:49<56:30, 27.56s/it]
 86%|████████▋ | 778/900 [1:58:50<39:26, 19.40s/it]
 87%|████████▋ | 779/900 [1:58:50<27:34, 13.67s/it]
 87%|████████▋ | 780/900 [1:58:50<19:20,  9.67s/it]
 87%|████████▋ | 781/900 [1:58:51<13:36,  6.86s/it]
 87%|████████▋ | 782/900 [1:58:51<09:37,  4.90s/it]
 87%|████████▋ | 783/900 [1:58:51<06:51,  3.52s/it]
 87%|████████▋ | 784/900 [1:58:52<04:56,  2.56s/it]
 87%|████████▋ | 785/900 [1:59:52<38:00, 19.83s/it]
 87%|████████▋ | 786/900 [1:59:52<26:33, 13.98s/it]
 87%|████████▋ | 787/900 [1:59:52<18:36,  9.88s/it]
 88%|████████▊ | 788/900 [1:59:53<13:06,  7.02s/it]
 88%|████████▊ | 789/900 [1:59:53<09:17,  5.02s/it]
 88%|████████▊ | 790/900 [1:59:53<06:38,  3.62s/it]
 88%|████████▊ | 791/900 [1:59:54<04:47,  2.64s/it]
 88%|████████▊ | 792/900 [1:59:54<03:30,  1.95s/it]
 88%|████████▊ | 793/900 [2:07:36<4:09:42, 140.02s/it]
 88%|████████▊ | 794/900 [2:07:37<2:53:20, 98.12s/it] 
 88%|████████▊ | 795/900 [2:07:37<2:00:22, 68.78s/it]
 88%|████████▊ | 796/900 [2:07:37<1:23:38, 48.25s/it]
 89%|████████▊ | 797/900 [2:07:38<58:09, 33.88s/it]  
 89%|████████▊ | 798/900 [2:07:38<40:29, 23.81s/it]
 89%|████████▉ | 799/900 [2:07:38<28:13, 16.77s/it]
 89%|████████▉ | 800/900 [2:07:39<19:42, 11.83s/it]
 89%|████████▉ | 801/900 [2:08:31<39:30, 23.95s/it]
 89%|████████▉ | 802/900 [2:08:31<27:32, 16.86s/it]
 89%|████████▉ | 803/900 [2:08:31<19:14, 11.91s/it]
 89%|████████▉ | 804/900 [2:08:32<13:29,  8.43s/it]
 89%|████████▉ | 805/900 [2:08:32<09:30,  6.00s/it]
 90%|████████▉ | 806/900 [2:08:32<06:44,  4.30s/it]
 90%|████████▉ | 807/900 [2:08:33<04:49,  3.12s/it]
 90%|████████▉ | 808/900 [2:08:33<03:29,  2.28s/it]
 90%|████████▉ | 809/900 [2:20:02<5:15:48, 208.22s/it]
 90%|█████████ | 810/900 [2:20:02<3:38:46, 145.86s/it]
 90%|█████████ | 811/900 [2:20:03<2:31:35, 102.20s/it]
 90%|█████████ | 812/900 [2:20:03<1:45:04, 71.64s/it] 
 90%|█████████ | 813/900 [2:20:03<1:12:51, 50.25s/it]
 90%|█████████ | 814/900 [2:20:04<50:33, 35.27s/it]  
 91%|█████████ | 815/900 [2:20:04<35:06, 24.78s/it]
 91%|█████████ | 816/900 [2:20:04<24:25, 17.44s/it]
 91%|█████████ | 817/900 [2:26:24<2:54:40, 126.27s/it]
 91%|█████████ | 818/900 [2:26:25<2:00:55, 88.48s/it] 
 91%|█████████ | 819/900 [2:26:25<1:23:44, 62.03s/it]
 91%|█████████ | 820/900 [2:26:25<58:01, 43.52s/it]  
 91%|█████████ | 821/900 [2:26:26<40:13, 30.56s/it]
 91%|█████████▏| 822/900 [2:26:26<27:56, 21.49s/it]
 91%|█████████▏| 823/900 [2:26:26<19:26, 15.14s/it]
 92%|█████████▏| 824/900 [2:26:27<13:33, 10.70s/it]
 92%|█████████▏| 825/900 [2:37:10<4:10:27, 200.36s/it]
 92%|█████████▏| 826/900 [2:37:10<2:53:06, 140.36s/it]
 92%|█████████▏| 827/900 [2:37:10<1:59:39, 98.34s/it] 
 92%|█████████▏| 828/900 [2:37:11<1:22:43, 68.94s/it]
 92%|█████████▏| 829/900 [2:37:11<57:12, 48.35s/it]  
 92%|█████████▏| 830/900 [2:37:11<39:35, 33.94s/it]
 92%|█████████▏| 831/900 [2:37:11<27:25, 23.85s/it]
 92%|█████████▏| 832/900 [2:37:12<19:01, 16.79s/it]
 93%|█████████▎| 833/900 [2:43:55<2:28:20, 132.84s/it]
 93%|█████████▎| 834/900 [2:43:56<1:42:23, 93.09s/it] 
 93%|█████████▎| 835/900 [2:43:56<1:10:42, 65.26s/it]
 93%|█████████▎| 836/900 [2:43:56<48:50, 45.78s/it]  
 93%|█████████▎| 837/900 [2:43:57<33:45, 32.15s/it]
 93%|█████████▎| 838/900 [2:43:57<23:21, 22.60s/it]
 93%|█████████▎| 839/900 [2:43:57<16:11, 15.92s/it]
 93%|█████████▎| 840/900 [2:43:58<11:14, 11.25s/it]
 93%|█████████▎| 841/900 [2:47:49<1:15:56, 77.23s/it]
 94%|█████████▎| 842/900 [2:47:49<52:21, 54.16s/it]  
 94%|█████████▎| 843/900 [2:47:50<36:06, 38.01s/it]
 94%|█████████▍| 844/900 [2:47:50<24:55, 26.71s/it]
 94%|█████████▍| 845/900 [2:47:50<17:13, 18.79s/it]
 94%|█████████▍| 846/900 [2:47:51<11:55, 13.25s/it]
 94%|█████████▍| 847/900 [2:47:51<08:16,  9.38s/it]
 94%|█████████▍| 848/900 [2:47:51<05:46,  6.66s/it]
 94%|█████████▍| 849/900 [2:53:09<1:24:56, 99.92s/it]
 94%|█████████▍| 850/900 [2:53:09<58:22, 70.05s/it]  
 95%|█████████▍| 851/900 [2:53:09<40:07, 49.14s/it]
 95%|█████████▍| 852/900 [2:53:10<27:36, 34.50s/it]
 95%|█████████▍| 853/900 [2:53:10<18:59, 24.25s/it]
 95%|█████████▍| 854/900 [2:53:10<13:05, 17.08s/it]
 95%|█████████▌| 855/900 [2:53:11<09:02, 12.05s/it]
 95%|█████████▌| 856/900 [2:53:11<06:15,  8.54s/it]
 95%|█████████▌| 857/900 [2:57:06<54:48, 76.48s/it]
 95%|█████████▌| 858/900 [2:57:06<37:32, 53.64s/it]
 95%|█████████▌| 859/900 [2:57:07<25:43, 37.65s/it]
 96%|█████████▌| 860/900 [2:57:07<17:38, 26.45s/it]
 96%|█████████▌| 861/900 [2:57:07<12:06, 18.62s/it]
 96%|█████████▌| 862/900 [2:57:08<08:18, 13.13s/it]
 96%|█████████▌| 863/900 [2:57:08<05:43,  9.29s/it]
 96%|█████████▌| 864/900 [2:57:08<03:57,  6.60s/it]
 96%|█████████▌| 865/900 [3:19:49<4:00:50, 412.88s/it]
 96%|█████████▌| 866/900 [3:19:50<2:43:49, 289.11s/it]
 96%|█████████▋| 867/900 [3:19:50<1:51:21, 202.47s/it]
 96%|█████████▋| 868/900 [3:19:50<1:15:38, 141.82s/it]
 97%|█████████▋| 869/900 [3:19:51<51:20, 99.37s/it]   
 97%|█████████▋| 870/900 [3:19:51<34:49, 69.67s/it]
 97%|█████████▋| 871/900 [3:19:51<23:37, 48.87s/it]
 97%|█████████▋| 872/900 [3:19:52<16:00, 34.32s/it]
 97%|█████████▋| 873/900 [3:26:21<1:03:20, 140.75s/it]
 97%|█████████▋| 874/900 [3:26:21<42:44, 98.63s/it]   
 97%|█████████▋| 875/900 [3:26:21<28:48, 69.14s/it]
 97%|█████████▋| 876/900 [3:26:22<19:23, 48.50s/it]
 97%|█████████▋| 877/900 [3:26:22<13:03, 34.05s/it]
 98%|█████████▊| 878/900 [3:26:22<08:46, 23.94s/it]
 98%|█████████▊| 879/900 [3:26:23<05:53, 16.86s/it]
 98%|█████████▊| 880/900 [3:26:23<03:57, 11.90s/it]
 98%|█████████▊| 881/900 [3:27:59<11:44, 37.08s/it]
 98%|█████████▊| 882/900 [3:27:59<07:49, 26.06s/it]
 98%|█████████▊| 883/900 [3:28:00<05:11, 18.35s/it]
 98%|█████████▊| 884/900 [3:28:00<03:27, 12.94s/it]
 98%|█████████▊| 885/900 [3:28:00<02:17,  9.16s/it]
 98%|█████████▊| 886/900 [3:28:01<01:31,  6.51s/it]
 99%|█████████▊| 887/900 [3:28:01<01:00,  4.66s/it]
 99%|█████████▊| 888/900 [3:28:01<00:40,  3.36s/it]
 99%|█████████▉| 889/900 [3:29:06<04:00, 21.84s/it]
 99%|█████████▉| 890/900 [3:29:07<02:33, 15.39s/it]
 99%|█████████▉| 891/900 [3:29:07<01:37, 10.87s/it]
 99%|█████████▉| 892/900 [3:29:07<01:01,  7.71s/it]
 99%|█████████▉| 893/900 [3:29:08<00:38,  5.49s/it]
 99%|█████████▉| 894/900 [3:29:08<00:23,  3.94s/it]
 99%|█████████▉| 895/900 [3:29:08<00:14,  2.85s/it]
100%|█████████▉| 896/900 [3:29:09<00:08,  2.10s/it]
100%|█████████▉| 897/900 [3:35:09<05:28, 109.48s/it]
100%|█████████▉| 898/900 [3:35:09<02:33, 76.73s/it] 
100%|█████████▉| 899/900 [3:35:09<00:53, 53.81s/it]
100%|█████████▉| 899/900 [3:35:10<00:14, 14.36s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json.
+ReorientWhiteMugsTask_0 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_0, run: 0, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.081978793714589, 'joint_sparc_mean': -13.30536799315271, 'ee_isj': 4032.3606168925, 'joint_isj': 347159.5953844916, 'ee_path_length': 6.930492900294216, 'joint_rmse_mean': 1.089188567340664, 'ee_speed_max': 0.5282530188560486, 'ee_speed_mean': 0.10668270289897919}, events: {'GRIPPER_FULLY_CLOSED': 14, 'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 14, 'OBJECT_BUMPED': 10, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'sideways_white_mug', 'upright_white_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 12641.562, 'policy_inference_avg_ms': 14046.2, 'env_step_s': 260.962, 'env_step_avg_ms': 290.0, 'video_write_s': 7.048, 'video_write_avg_ms': 7.8, 'wall_total_s': 12909.573, 'it_per_sec': 0.07}, score: 1.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 71ab2e1341d04cb8adb120bd91f357d6-0
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:15<18:47:58, 75.28s/it]
  0%|          | 2/900 [01:15<7:46:53, 31.20s/it] 
  0%|          | 3/900 [01:15<4:15:46, 17.11s/it]
  0%|          | 4/900 [01:16<2:36:33, 10.48s/it]
  1%|          | 5/900 [01:16<1:41:44,  6.82s/it]
  1%|          | 6/900 [01:16<1:08:40,  4.61s/it]
  1%|          | 7/900 [01:17<47:42,  3.21s/it]  
  1%|          | 8/900 [01:17<33:59,  2.29s/it]
  1%|          | 9/900 [01:35<1:48:46,  7.33s/it]
  1%|          | 10/900 [01:36<1:16:32,  5.16s/it]
  1%|          | 11/900 [01:36<54:30,  3.68s/it]  
  1%|▏         | 12/900 [01:36<39:17,  2.65s/it]
  1%|▏         | 13/900 [01:37<28:46,  1.95s/it]
  2%|▏         | 14/900 [01:37<21:28,  1.45s/it]
  2%|▏         | 15/900 [01:37<16:22,  1.11s/it]
  2%|▏         | 16/900 [01:38<12:48,  1.15it/s]
  2%|▏         | 17/900 [02:04<2:04:00,  8.43s/it]
  2%|▏         | 18/900 [02:04<1:27:59,  5.99s/it]
  2%|▏         | 19/900 [02:04<1:02:47,  4.28s/it]
  2%|▏         | 20/900 [02:05<45:12,  3.08s/it]  
  2%|▏         | 21/900 [02:05<32:55,  2.25s/it]
  2%|▏         | 22/900 [02:05<24:22,  1.67s/it]
  3%|▎         | 23/900 [02:05<18:25,  1.26s/it]
  3%|▎         | 24/900 [02:06<14:30,  1.01it/s]
  3%|▎         | 25/900 [02:29<1:50:15,  7.56s/it]
  3%|▎         | 26/900 [02:29<1:18:30,  5.39s/it]
  3%|▎         | 27/900 [02:29<56:20,  3.87s/it]  
  3%|▎         | 28/900 [02:30<40:53,  2.81s/it]
  3%|▎         | 29/900 [02:30<30:01,  2.07s/it]
  3%|▎         | 30/900 [02:30<22:19,  1.54s/it]
  3%|▎         | 31/900 [02:31<16:56,  1.17s/it]
  4%|▎         | 32/900 [02:31<13:16,  1.09it/s]
  4%|▎         | 33/900 [02:50<1:29:54,  6.22s/it]
  4%|▍         | 34/900 [02:50<1:04:19,  4.46s/it]
  4%|▍         | 35/900 [02:50<46:26,  3.22s/it]  
  4%|▍         | 36/900 [02:51<33:56,  2.36s/it]
  4%|▍         | 37/900 [02:51<25:10,  1.75s/it]
  4%|▍         | 38/900 [02:51<19:03,  1.33s/it]
  4%|▍         | 39/900 [02:52<14:50,  1.03s/it]
  4%|▍         | 40/900 [02:52<11:44,  1.22it/s]
  5%|▍         | 41/900 [03:09<1:19:32,  5.56s/it]
  5%|▍         | 42/900 [03:09<56:59,  3.99s/it]  
  5%|▍         | 43/900 [03:09<41:11,  2.88s/it]
  5%|▍         | 44/900 [03:10<30:11,  2.12s/it]
  5%|▌         | 45/900 [03:10<22:30,  1.58s/it]
  5%|▌         | 46/900 [03:10<17:03,  1.20s/it]
  5%|▌         | 47/900 [03:10<13:16,  1.07it/s]
  5%|▌         | 48/900 [03:11<10:35,  1.34it/s]
  5%|▌         | 49/900 [03:30<1:27:57,  6.20s/it]
  6%|▌         | 50/900 [03:30<1:02:49,  4.43s/it]
  6%|▌         | 51/900 [03:30<45:16,  3.20s/it]  
  6%|▌         | 52/900 [03:31<32:57,  2.33s/it]
  6%|▌         | 53/900 [03:31<24:22,  1.73s/it]
  6%|▌         | 54/900 [03:31<18:24,  1.30s/it]
  6%|▌         | 55/900 [03:32<14:13,  1.01s/it]
  6%|▌         | 56/900 [03:32<11:18,  1.24it/s]
  6%|▋         | 57/900 [03:52<1:31:28,  6.51s/it]
  6%|▋         | 58/900 [03:52<1:05:18,  4.65s/it]
  7%|▋         | 59/900 [03:52<46:57,  3.35s/it]  
  7%|▋         | 60/900 [03:53<34:09,  2.44s/it]
  7%|▋         | 61/900 [03:53<25:11,  1.80s/it]
  7%|▋         | 62/900 [03:53<18:54,  1.35s/it]
  7%|▋         | 63/900 [03:54<14:32,  1.04s/it]
  7%|▋         | 64/900 [03:54<11:26,  1.22it/s]
  7%|▋         | 65/900 [04:19<1:52:27,  8.08s/it]
  7%|▋         | 66/900 [04:19<1:19:54,  5.75s/it]
  7%|▋         | 67/900 [04:20<57:09,  4.12s/it]  
  8%|▊         | 68/900 [04:20<41:16,  2.98s/it]
  8%|▊         | 69/900 [04:20<30:08,  2.18s/it]
  8%|▊         | 70/900 [04:21<22:21,  1.62s/it]
  8%|▊         | 71/900 [04:21<16:55,  1.22s/it]
  8%|▊         | 72/900 [04:21<13:06,  1.05it/s]
  8%|▊         | 73/900 [04:41<1:30:45,  6.58s/it]
  8%|▊         | 74/900 [04:41<1:04:49,  4.71s/it]
  8%|▊         | 75/900 [04:42<46:41,  3.40s/it]  
  8%|▊         | 76/900 [04:42<34:01,  2.48s/it]
  9%|▊         | 77/900 [04:42<25:12,  1.84s/it]
  9%|▊         | 78/900 [04:43<19:01,  1.39s/it]
  9%|▉         | 79/900 [04:43<14:41,  1.07s/it]
  9%|▉         | 80/900 [04:43<11:39,  1.17it/s]
  9%|▉         | 81/900 [05:09<1:53:38,  8.33s/it]
  9%|▉         | 82/900 [05:09<1:20:52,  5.93s/it]
  9%|▉         | 83/900 [05:10<57:54,  4.25s/it]  
  9%|▉         | 84/900 [05:10<41:46,  3.07s/it]
  9%|▉         | 85/900 [05:10<30:26,  2.24s/it]
 10%|▉         | 86/900 [05:11<22:33,  1.66s/it]
 10%|▉         | 87/900 [05:11<17:01,  1.26s/it]
 10%|▉         | 88/900 [05:11<13:11,  1.03it/s]
 10%|▉         | 89/900 [05:26<1:10:49,  5.24s/it]
 10%|█         | 90/900 [05:27<50:46,  3.76s/it]  
 10%|█         | 91/900 [05:27<36:44,  2.72s/it]
 10%|█         | 92/900 [05:27<26:57,  2.00s/it]
 10%|█         | 93/900 [05:28<20:07,  1.50s/it]
 10%|█         | 94/900 [05:28<15:19,  1.14s/it]
 11%|█         | 95/900 [05:28<11:57,  1.12it/s]
 11%|█         | 96/900 [05:29<09:35,  1.40it/s]
 11%|█         | 97/900 [05:48<1:23:32,  6.24s/it]
 11%|█         | 98/900 [05:48<59:38,  4.46s/it]  
 11%|█         | 99/900 [05:48<42:55,  3.22s/it]
 11%|█         | 100/900 [05:49<31:13,  2.34s/it]
 11%|█         | 101/900 [05:49<23:02,  1.73s/it]
 11%|█▏        | 102/900 [05:49<17:20,  1.30s/it]
 11%|█▏        | 103/900 [05:50<13:20,  1.00s/it]
 12%|█▏        | 104/900 [05:50<10:33,  1.26it/s]
 12%|█▏        | 105/900 [06:19<2:03:13,  9.30s/it]
 12%|█▏        | 106/900 [06:19<1:27:22,  6.60s/it]
 12%|█▏        | 107/900 [06:20<1:02:19,  4.72s/it]
 12%|█▏        | 108/900 [06:20<44:47,  3.39s/it]  
 12%|█▏        | 109/900 [06:20<32:33,  2.47s/it]
 12%|█▏        | 110/900 [06:21<24:01,  1.82s/it]
 12%|█▏        | 111/900 [06:21<18:03,  1.37s/it]
 12%|█▏        | 112/900 [06:21<13:51,  1.06s/it]
 13%|█▎        | 113/900 [06:38<1:17:02,  5.87s/it]
 13%|█▎        | 114/900 [06:39<55:04,  4.20s/it]  
 13%|█▎        | 115/900 [06:39<39:43,  3.04s/it]
 13%|█▎        | 116/900 [06:39<29:00,  2.22s/it]
 13%|█▎        | 117/900 [06:40<21:28,  1.65s/it]
 13%|█▎        | 118/900 [06:40<16:14,  1.25s/it]
 13%|█▎        | 119/900 [06:40<12:38,  1.03it/s]
 13%|█▎        | 120/900 [06:41<10:09,  1.28it/s]
 13%|█▎        | 121/900 [07:37<3:44:55, 17.32s/it]
 14%|█▎        | 122/900 [07:37<2:38:34, 12.23s/it]
 14%|█▎        | 123/900 [07:37<1:52:09,  8.66s/it]
 14%|█▍        | 124/900 [07:38<1:19:40,  6.16s/it]
 14%|█▍        | 125/900 [07:38<57:01,  4.42s/it]  
 14%|█▍        | 126/900 [07:38<41:10,  3.19s/it]
 14%|█▍        | 127/900 [07:39<30:07,  2.34s/it]
 14%|█▍        | 128/900 [07:39<22:23,  1.74s/it]
 14%|█▍        | 129/900 [08:35<3:50:25, 17.93s/it]
 14%|█▍        | 130/900 [08:35<2:42:18, 12.65s/it]
 15%|█▍        | 131/900 [08:35<1:54:44,  8.95s/it]
 15%|█▍        | 132/900 [08:36<1:21:31,  6.37s/it]
 15%|█▍        | 133/900 [08:36<58:15,  4.56s/it]  
 15%|█▍        | 134/900 [08:36<42:01,  3.29s/it]
 15%|█▌        | 135/900 [08:37<30:40,  2.41s/it]
 15%|█▌        | 136/900 [08:37<22:45,  1.79s/it]
 15%|█▌        | 137/900 [09:09<2:16:37, 10.74s/it]
 15%|█▌        | 138/900 [09:09<1:36:51,  7.63s/it]
 15%|█▌        | 139/900 [09:09<1:09:02,  5.44s/it]
 16%|█▌        | 140/900 [09:10<49:35,  3.92s/it]  
 16%|█▌        | 141/900 [09:10<36:00,  2.85s/it]
 16%|█▌        | 142/900 [09:10<26:29,  2.10s/it]
 16%|█▌        | 143/900 [09:11<19:51,  1.57s/it]
 16%|█▌        | 144/900 [09:11<15:10,  1.20s/it]
 16%|█▌        | 145/900 [10:01<3:20:03, 15.90s/it]
 16%|█▌        | 146/900 [10:02<2:21:08, 11.23s/it]
 16%|█▋        | 147/900 [10:02<1:39:56,  7.96s/it]
 16%|█▋        | 148/900 [10:02<1:11:08,  5.68s/it]
 17%|█▋        | 149/900 [10:03<50:58,  4.07s/it]  
 17%|█▋        | 150/900 [10:03<36:54,  2.95s/it]
 17%|█▋        | 151/900 [10:03<27:02,  2.17s/it]
 17%|█▋        | 152/900 [10:04<20:09,  1.62s/it]
 17%|█▋        | 153/900 [11:25<5:17:49, 25.53s/it]
 17%|█▋        | 154/900 [11:25<3:43:29, 17.98s/it]
 17%|█▋        | 155/900 [11:26<2:37:32, 12.69s/it]
 17%|█▋        | 156/900 [11:26<1:51:24,  8.98s/it]
 17%|█▋        | 157/900 [11:26<1:19:10,  6.39s/it]
 18%|█▊        | 158/900 [11:27<56:37,  4.58s/it]  
 18%|█▊        | 159/900 [11:27<40:51,  3.31s/it]
 18%|█▊        | 160/900 [11:27<29:51,  2.42s/it]
 18%|█▊        | 161/900 [12:10<2:57:36, 14.42s/it]
 18%|█▊        | 162/900 [12:10<2:05:25, 10.20s/it]
 18%|█▊        | 163/900 [12:10<1:28:56,  7.24s/it]
 18%|█▊        | 164/900 [12:11<1:03:26,  5.17s/it]
 18%|█▊        | 165/900 [12:11<45:37,  3.72s/it]  
 18%|█▊        | 166/900 [12:11<33:09,  2.71s/it]
 19%|█▊        | 167/900 [12:12<24:25,  2.00s/it]
 19%|█▊        | 168/900 [12:12<18:19,  1.50s/it]
 19%|█▉        | 169/900 [15:23<11:51:24, 58.39s/it]
 19%|█▉        | 170/900 [15:24<8:18:36, 40.98s/it] 
 19%|█▉        | 171/900 [15:24<5:49:49, 28.79s/it]
 19%|█▉        | 172/900 [15:24<4:05:48, 20.26s/it]
 19%|█▉        | 173/900 [15:25<2:53:05, 14.29s/it]
 19%|█▉        | 174/900 [15:25<2:02:16, 10.11s/it]
 19%|█▉        | 175/900 [15:25<1:26:43,  7.18s/it]
 20%|█▉        | 176/900 [15:26<1:01:52,  5.13s/it]
 20%|█▉        | 177/900 [18:11<10:40:06, 53.12s/it]
 20%|█▉        | 178/900 [18:11<7:28:43, 37.29s/it] 
 20%|█▉        | 179/900 [18:12<5:14:56, 26.21s/it]
 20%|██        | 180/900 [18:12<3:41:25, 18.45s/it]
 20%|██        | 181/900 [18:12<2:36:04, 13.02s/it]
 20%|██        | 182/900 [18:13<1:50:20,  9.22s/it]
 20%|██        | 183/900 [18:13<1:18:23,  6.56s/it]
 20%|██        | 184/900 [18:13<56:02,  4.70s/it]  
 21%|██        | 185/900 [19:24<4:51:41, 24.48s/it]
 21%|██        | 186/900 [19:24<3:25:09, 17.24s/it]
 21%|██        | 187/900 [19:25<2:24:38, 12.17s/it]
 21%|██        | 188/900 [19:25<1:42:20,  8.62s/it]
 21%|██        | 189/900 [19:25<1:12:44,  6.14s/it]
 21%|██        | 190/900 [19:26<52:04,  4.40s/it]  
 21%|██        | 191/900 [19:26<37:38,  3.19s/it]
 21%|██▏       | 192/900 [19:26<27:30,  2.33s/it]
 21%|██▏       | 193/900 [20:46<5:02:06, 25.64s/it]
 22%|██▏       | 194/900 [20:47<3:32:21, 18.05s/it]
 22%|██▏       | 195/900 [20:47<2:29:38, 12.74s/it]
 22%|██▏       | 196/900 [20:47<1:45:48,  9.02s/it]
 22%|██▏       | 197/900 [20:48<1:15:09,  6.41s/it]
 22%|██▏       | 198/900 [20:48<53:43,  4.59s/it]  
 22%|██▏       | 199/900 [20:48<38:45,  3.32s/it]
 22%|██▏       | 200/900 [20:49<28:15,  2.42s/it]
 22%|██▏       | 201/900 [21:37<3:09:13, 16.24s/it]
 22%|██▏       | 202/900 [21:38<2:13:29, 11.47s/it]
 23%|██▎       | 203/900 [21:38<1:34:30,  8.14s/it]
 23%|██▎       | 204/900 [21:38<1:07:20,  5.81s/it]
 23%|██▎       | 205/900 [21:39<48:17,  4.17s/it]  
 23%|██▎       | 206/900 [21:39<34:59,  3.03s/it]
 23%|██▎       | 207/900 [21:39<25:41,  2.22s/it]
 23%|██▎       | 208/900 [21:40<19:10,  1.66s/it]
 23%|██▎       | 209/900 [22:15<2:15:11, 11.74s/it]
 23%|██▎       | 210/900 [22:15<1:35:40,  8.32s/it]
 23%|██▎       | 211/900 [22:16<1:08:01,  5.92s/it]
 24%|██▎       | 212/900 [22:16<48:45,  4.25s/it]  
 24%|██▎       | 213/900 [22:16<35:16,  3.08s/it]
 24%|██▍       | 214/900 [22:17<25:48,  2.26s/it]
 24%|██▍       | 215/900 [22:17<19:12,  1.68s/it]
 24%|██▍       | 216/900 [22:17<14:37,  1.28s/it]
 24%|██▍       | 217/900 [22:50<2:02:22, 10.75s/it]
 24%|██▍       | 218/900 [22:51<1:26:44,  7.63s/it]
 24%|██▍       | 219/900 [22:51<1:01:49,  5.45s/it]
 24%|██▍       | 220/900 [22:51<44:22,  3.92s/it]  
 25%|██▍       | 221/900 [22:52<32:10,  2.84s/it]
 25%|██▍       | 222/900 [22:52<23:42,  2.10s/it]
 25%|██▍       | 223/900 [22:52<17:47,  1.58s/it]
 25%|██▍       | 224/900 [22:53<13:35,  1.21s/it]
 25%|██▌       | 225/900 [23:16<1:28:09,  7.84s/it]
 25%|██▌       | 226/900 [23:16<1:02:46,  5.59s/it]
 25%|██▌       | 227/900 [23:17<45:02,  4.02s/it]  
 25%|██▌       | 228/900 [23:17<32:38,  2.91s/it]
 25%|██▌       | 229/900 [23:17<23:57,  2.14s/it]
 26%|██▌       | 230/900 [23:18<17:55,  1.61s/it]
 26%|██▌       | 231/900 [23:18<13:42,  1.23s/it]
 26%|██▌       | 232/900 [23:18<10:44,  1.04it/s]
 26%|██▌       | 233/900 [24:02<2:31:36, 13.64s/it]
 26%|██▌       | 234/900 [24:02<1:47:06,  9.65s/it]
 26%|██▌       | 235/900 [24:02<1:15:58,  6.85s/it]
 26%|██▌       | 236/900 [24:03<54:12,  4.90s/it]  
 26%|██▋       | 237/900 [24:03<38:59,  3.53s/it]
 26%|██▋       | 238/900 [24:03<28:19,  2.57s/it]
 27%|██▋       | 239/900 [24:04<20:53,  1.90s/it]
 27%|██▋       | 240/900 [24:04<15:41,  1.43s/it]
 27%|██▋       | 241/900 [25:16<4:07:38, 22.55s/it]
 27%|██▋       | 242/900 [25:16<2:54:13, 15.89s/it]
 27%|██▋       | 243/900 [25:16<2:02:53, 11.22s/it]
 27%|██▋       | 244/900 [25:17<1:27:00,  7.96s/it]
 27%|██▋       | 245/900 [25:17<1:01:55,  5.67s/it]
 27%|██▋       | 246/900 [25:17<44:22,  4.07s/it]  
 27%|██▋       | 247/900 [25:18<32:07,  2.95s/it]
 28%|██▊       | 248/900 [25:18<23:33,  2.17s/it]
 28%|██▊       | 249/900 [25:47<1:50:30, 10.19s/it]
 28%|██▊       | 250/900 [25:47<1:18:24,  7.24s/it]
 28%|██▊       | 251/900 [25:48<55:55,  5.17s/it]  
 28%|██▊       | 252/900 [25:48<40:16,  3.73s/it]
 28%|██▊       | 253/900 [25:48<29:20,  2.72s/it]
 28%|██▊       | 254/900 [25:49<21:41,  2.01s/it]
 28%|██▊       | 255/900 [25:49<16:18,  1.52s/it]
 28%|██▊       | 256/900 [25:50<12:32,  1.17s/it]
 29%|██▊       | 257/900 [26:21<1:48:28, 10.12s/it]
 29%|██▊       | 258/900 [26:21<1:16:57,  7.19s/it]
 29%|██▉       | 259/900 [26:21<54:53,  5.14s/it]  
 29%|██▉       | 260/900 [26:22<39:27,  3.70s/it]
 29%|██▉       | 261/900 [26:22<28:40,  2.69s/it]
 29%|██▉       | 262/900 [26:22<21:07,  1.99s/it]
 29%|██▉       | 263/900 [26:23<15:50,  1.49s/it]
 29%|██▉       | 264/900 [26:23<12:10,  1.15s/it]
 29%|██▉       | 265/900 [26:46<1:21:36,  7.71s/it]
 30%|██▉       | 266/900 [26:46<58:07,  5.50s/it]  
 30%|██▉       | 267/900 [26:47<41:44,  3.96s/it]
 30%|██▉       | 268/900 [26:47<30:17,  2.88s/it]
 30%|██▉       | 269/900 [26:47<22:16,  2.12s/it]
 30%|███       | 270/900 [26:48<16:39,  1.59s/it]
 30%|███       | 271/900 [26:48<12:42,  1.21s/it]
 30%|███       | 272/900 [26:48<09:55,  1.05it/s]
 30%|███       | 273/900 [28:06<4:10:54, 24.01s/it]
 30%|███       | 274/900 [28:07<2:56:24, 16.91s/it]
 31%|███       | 275/900 [28:07<2:04:21, 11.94s/it]
 31%|███       | 276/900 [28:07<1:27:59,  8.46s/it]
 31%|███       | 277/900 [28:08<1:02:33,  6.03s/it]
 31%|███       | 278/900 [28:08<44:46,  4.32s/it]  
 31%|███       | 279/900 [28:08<32:20,  3.13s/it]
 31%|███       | 280/900 [28:09<23:40,  2.29s/it]
 31%|███       | 281/900 [29:22<4:03:26, 23.60s/it]
 31%|███▏      | 282/900 [29:22<2:51:12, 16.62s/it]
 31%|███▏      | 283/900 [29:23<2:00:41, 11.74s/it]
 32%|███▏      | 284/900 [29:23<1:25:23,  8.32s/it]
 32%|███▏      | 285/900 [29:23<1:00:43,  5.92s/it]
 32%|███▏      | 286/900 [29:24<43:29,  4.25s/it]  
 32%|███▏      | 287/900 [29:24<31:28,  3.08s/it]
 32%|███▏      | 288/900 [29:24<23:01,  2.26s/it]
 32%|███▏      | 289/900 [31:34<6:51:44, 40.43s/it]
 32%|███▏      | 290/900 [31:34<4:48:49, 28.41s/it]
 32%|███▏      | 291/900 [31:35<3:22:52, 19.99s/it]
 32%|███▏      | 292/900 [31:35<2:22:48, 14.09s/it]
 33%|███▎      | 293/900 [31:35<1:40:50,  9.97s/it]
 33%|███▎      | 294/900 [31:36<1:11:29,  7.08s/it]
 33%|███▎      | 295/900 [31:36<51:00,  5.06s/it]  
 33%|███▎      | 296/900 [31:36<36:39,  3.64s/it]
 33%|███▎      | 297/900 [32:01<1:41:31, 10.10s/it]
 33%|███▎      | 298/900 [32:02<1:11:59,  7.17s/it]
 33%|███▎      | 299/900 [32:02<51:20,  5.13s/it]  
 33%|███▎      | 300/900 [32:02<36:55,  3.69s/it]
 33%|███▎      | 301/900 [32:03<26:50,  2.69s/it]
 34%|███▎      | 302/900 [32:03<19:46,  1.98s/it]
 34%|███▎      | 303/900 [32:03<14:50,  1.49s/it]
 34%|███▍      | 304/900 [32:04<11:24,  1.15s/it]
 34%|███▍      | 305/900 [32:29<1:23:03,  8.38s/it]
 34%|███▍      | 306/900 [32:29<59:05,  5.97s/it]  
 34%|███▍      | 307/900 [32:30<42:19,  4.28s/it]
 34%|███▍      | 308/900 [32:30<30:34,  3.10s/it]
 34%|███▍      | 309/900 [32:30<22:21,  2.27s/it]
 34%|███▍      | 310/900 [32:31<16:37,  1.69s/it]
 35%|███▍      | 311/900 [32:31<12:37,  1.29s/it]
 35%|███▍      | 312/900 [32:31<09:49,  1.00s/it]
 35%|███▍      | 313/900 [33:03<1:38:14, 10.04s/it]
 35%|███▍      | 314/900 [33:03<1:09:43,  7.14s/it]
 35%|███▌      | 315/900 [33:03<49:45,  5.10s/it]  
 35%|███▌      | 316/900 [33:04<35:45,  3.67s/it]
 35%|███▌      | 317/900 [33:04<25:59,  2.68s/it]
 35%|███▌      | 318/900 [33:04<19:09,  1.98s/it]
 35%|███▌      | 319/900 [33:05<14:23,  1.49s/it]
 36%|███▌      | 320/900 [33:05<11:03,  1.14s/it]
 36%|███▌      | 321/900 [33:50<2:18:31, 14.36s/it]
 36%|███▌      | 322/900 [33:51<1:37:48, 10.15s/it]
 36%|███▌      | 323/900 [33:51<1:09:19,  7.21s/it]
 36%|███▌      | 324/900 [33:51<49:25,  5.15s/it]  
 36%|███▌      | 325/900 [33:52<35:32,  3.71s/it]
 36%|███▌      | 326/900 [33:52<25:50,  2.70s/it]
 36%|███▋      | 327/900 [33:52<19:01,  1.99s/it]
 36%|███▋      | 328/900 [33:53<14:16,  1.50s/it]
 37%|███▋      | 329/900 [34:35<2:11:17, 13.80s/it]
 37%|███▋      | 330/900 [34:35<1:32:44,  9.76s/it]
 37%|███▋      | 331/900 [34:36<1:05:47,  6.94s/it]
 37%|███▋      | 332/900 [34:36<46:59,  4.96s/it]  
 37%|███▋      | 333/900 [34:36<33:49,  3.58s/it]
 37%|███▋      | 334/900 [34:37<24:35,  2.61s/it]
 37%|███▋      | 335/900 [34:37<18:10,  1.93s/it]
 37%|███▋      | 336/900 [34:38<13:40,  1.46s/it]
 37%|███▋      | 337/900 [35:05<1:26:22,  9.20s/it]
 38%|███▊      | 338/900 [35:05<1:01:20,  6.55s/it]
 38%|███▊      | 339/900 [35:06<43:52,  4.69s/it]  
 38%|███▊      | 340/900 [35:06<31:39,  3.39s/it]
 38%|███▊      | 341/900 [35:06<23:06,  2.48s/it]
 38%|███▊      | 342/900 [35:07<17:10,  1.85s/it]
 38%|███▊      | 343/900 [35:07<13:00,  1.40s/it]
 38%|███▊      | 344/900 [35:07<10:04,  1.09s/it]
 38%|███▊      | 345/900 [37:37<7:03:42, 45.81s/it]
 38%|███▊      | 346/900 [37:38<4:57:01, 32.17s/it]
 39%|███▊      | 347/900 [37:38<3:28:29, 22.62s/it]
 39%|███▊      | 348/900 [37:39<2:26:37, 15.94s/it]
 39%|███▉      | 349/900 [37:39<1:43:24, 11.26s/it]
 39%|███▉      | 350/900 [37:39<1:13:12,  7.99s/it]
 39%|███▉      | 351/900 [37:40<52:05,  5.69s/it]  
 39%|███▉      | 352/900 [37:40<37:21,  4.09s/it]
 39%|███▉      | 353/900 [38:18<2:10:05, 14.27s/it]
 39%|███▉      | 354/900 [38:18<1:31:51, 10.10s/it]
 39%|███▉      | 355/900 [38:19<1:05:08,  7.17s/it]
 40%|███▉      | 356/900 [38:19<46:27,  5.12s/it]  
 40%|███▉      | 357/900 [38:19<33:25,  3.69s/it]
 40%|███▉      | 358/900 [38:20<24:18,  2.69s/it]
 40%|███▉      | 359/900 [38:20<17:55,  1.99s/it]
 40%|████      | 360/900 [38:20<13:26,  1.49s/it]
 40%|████      | 361/900 [39:56<4:27:11, 29.74s/it]
 40%|████      | 362/900 [39:56<3:07:37, 20.92s/it]
 40%|████      | 363/900 [39:57<2:12:00, 14.75s/it]
 40%|████      | 364/900 [39:57<1:33:09, 10.43s/it]
 41%|████      | 365/900 [39:57<1:06:00,  7.40s/it]
 41%|████      | 366/900 [39:58<47:03,  5.29s/it]  
 41%|████      | 367/900 [39:58<33:49,  3.81s/it]
 41%|████      | 368/900 [39:58<24:33,  2.77s/it]
 41%|████      | 369/900 [41:12<3:31:43, 23.92s/it]
 41%|████      | 370/900 [41:12<2:28:52, 16.85s/it]
 41%|████      | 371/900 [41:12<1:44:57, 11.91s/it]
 41%|████▏     | 372/900 [41:13<1:14:16,  8.44s/it]
 41%|████▏     | 373/900 [41:13<52:50,  6.02s/it]  
 42%|████▏     | 374/900 [41:14<37:53,  4.32s/it]
 42%|████▏     | 375/900 [41:14<27:23,  3.13s/it]
 42%|████▏     | 376/900 [41:14<20:02,  2.29s/it]
 42%|████▏     | 377/900 [41:42<1:26:29,  9.92s/it]
 42%|████▏     | 378/900 [41:42<1:01:21,  7.05s/it]
 42%|████▏     | 379/900 [41:43<43:46,  5.04s/it]  
 42%|████▏     | 380/900 [41:43<31:30,  3.64s/it]
 42%|████▏     | 381/900 [41:43<22:54,  2.65s/it]
 42%|████▏     | 382/900 [41:44<16:54,  1.96s/it]
 43%|████▎     | 383/900 [41:44<12:44,  1.48s/it]
 43%|████▎     | 384/900 [41:44<09:46,  1.14s/it]
 43%|████▎     | 385/900 [43:22<4:17:43, 30.03s/it]
 43%|████▎     | 386/900 [43:22<3:00:56, 21.12s/it]
 43%|████▎     | 387/900 [43:23<2:07:17, 14.89s/it]
 43%|████▎     | 388/900 [43:23<1:29:48, 10.52s/it]
 43%|████▎     | 389/900 [43:23<1:03:37,  7.47s/it]
 43%|████▎     | 390/900 [43:24<45:21,  5.34s/it]  
 43%|████▎     | 391/900 [43:24<32:35,  3.84s/it]
 44%|████▎     | 392/900 [43:24<23:40,  2.80s/it]
 44%|████▎     | 393/900 [43:54<1:32:06, 10.90s/it]
 44%|████▍     | 394/900 [43:54<1:05:13,  7.74s/it]
 44%|████▍     | 395/900 [43:55<46:27,  5.52s/it]  
 44%|████▍     | 396/900 [43:55<33:18,  3.97s/it]
 44%|████▍     | 397/900 [43:55<24:10,  2.88s/it]
 44%|████▍     | 398/900 [43:56<17:43,  2.12s/it]
 44%|████▍     | 399/900 [43:56<13:17,  1.59s/it]
 44%|████▍     | 400/900 [43:57<10:07,  1.21s/it]
 45%|████▍     | 401/900 [44:31<1:32:00, 11.06s/it]
 45%|████▍     | 402/900 [44:31<1:05:08,  7.85s/it]
 45%|████▍     | 403/900 [44:31<46:21,  5.60s/it]  
 45%|████▍     | 404/900 [44:32<33:12,  4.02s/it]
 45%|████▌     | 405/900 [44:32<24:02,  2.91s/it]
 45%|████▌     | 406/900 [44:32<17:37,  2.14s/it]
 45%|████▌     | 407/900 [44:33<13:09,  1.60s/it]
 45%|████▌     | 408/900 [44:33<10:01,  1.22s/it]
 45%|████▌     | 409/900 [45:22<2:07:31, 15.58s/it]
 46%|████▌     | 410/900 [45:22<1:29:58, 11.02s/it]
 46%|████▌     | 411/900 [45:23<1:03:41,  7.82s/it]
 46%|████▌     | 412/900 [45:23<45:20,  5.58s/it]  
 46%|████▌     | 413/900 [45:23<32:30,  4.01s/it]
 46%|████▌     | 414/900 [45:24<23:33,  2.91s/it]
 46%|████▌     | 415/900 [45:24<17:17,  2.14s/it]
 46%|████▌     | 416/900 [45:24<12:54,  1.60s/it]
 46%|████▋     | 417/900 [46:34<2:56:53, 21.97s/it]
 46%|████▋     | 418/900 [46:34<2:04:23, 15.48s/it]
 47%|████▋     | 419/900 [46:35<1:27:42, 10.94s/it]
 47%|████▋     | 420/900 [46:35<1:02:03,  7.76s/it]
 47%|████▋     | 421/900 [46:35<44:09,  5.53s/it]  
 47%|████▋     | 422/900 [46:36<31:39,  3.97s/it]
 47%|████▋     | 423/900 [46:36<22:55,  2.88s/it]
 47%|████▋     | 424/900 [46:36<16:48,  2.12s/it]
 47%|████▋     | 425/900 [47:41<2:45:09, 20.86s/it]
 47%|████▋     | 426/900 [47:41<1:56:11, 14.71s/it]
 47%|████▋     | 427/900 [47:42<1:21:58, 10.40s/it]
 48%|████▊     | 428/900 [47:42<58:03,  7.38s/it]  
 48%|████▊     | 429/900 [47:42<41:20,  5.27s/it]
 48%|████▊     | 430/900 [47:43<29:40,  3.79s/it]
 48%|████▊     | 431/900 [47:43<21:31,  2.75s/it]
 48%|████▊     | 432/900 [47:43<15:50,  2.03s/it]
 48%|████▊     | 433/900 [50:05<5:41:49, 43.92s/it]
 48%|████▊     | 434/900 [50:05<3:59:35, 30.85s/it]
 48%|████▊     | 435/900 [50:06<2:48:09, 21.70s/it]
 48%|████▊     | 436/900 [50:06<1:58:14, 15.29s/it]
 49%|████▊     | 437/900 [50:06<1:23:22, 10.81s/it]
 49%|████▊     | 438/900 [50:07<59:01,  7.67s/it]  
 49%|████▉     | 439/900 [50:07<42:00,  5.47s/it]
 49%|████▉     | 440/900 [50:07<30:07,  3.93s/it]
 49%|████▉     | 441/900 [53:20<7:43:00, 60.52s/it]
 49%|████▉     | 442/900 [53:20<5:24:10, 42.47s/it]
 49%|████▉     | 443/900 [53:21<3:47:12, 29.83s/it]
 49%|████▉     | 444/900 [53:21<2:39:28, 20.98s/it]
 49%|████▉     | 445/900 [53:21<1:52:09, 14.79s/it]
 50%|████▉     | 446/900 [53:22<1:19:06, 10.46s/it]
 50%|████▉     | 447/900 [53:22<56:02,  7.42s/it]  
 50%|████▉     | 448/900 [53:22<39:54,  5.30s/it]
 50%|████▉     | 449/900 [54:50<3:46:21, 30.11s/it]
 50%|█████     | 450/900 [54:51<2:38:51, 21.18s/it]
 50%|█████     | 451/900 [54:51<1:51:42, 14.93s/it]
 50%|█████     | 452/900 [54:51<1:18:46, 10.55s/it]
 50%|█████     | 453/900 [54:52<55:46,  7.49s/it]  
 50%|█████     | 454/900 [54:52<39:41,  5.34s/it]
 51%|█████     | 455/900 [54:52<28:29,  3.84s/it]
 51%|█████     | 456/900 [54:53<20:38,  2.79s/it]
 51%|█████     | 457/900 [55:41<2:02:03, 16.53s/it]
 51%|█████     | 458/900 [55:42<1:26:00, 11.68s/it]
 51%|█████     | 459/900 [55:42<1:00:48,  8.27s/it]
 51%|█████     | 460/900 [55:42<43:13,  5.89s/it]  
 51%|█████     | 461/900 [55:43<30:55,  4.23s/it]
 51%|█████▏    | 462/900 [55:43<22:19,  3.06s/it]
 51%|█████▏    | 463/900 [55:43<16:18,  2.24s/it]
 52%|█████▏    | 464/900 [55:44<12:07,  1.67s/it]
 52%|█████▏    | 465/900 [1:00:20<10:09:39, 84.09s/it]
 52%|█████▏    | 466/900 [1:00:20<7:06:31, 58.97s/it] 
 52%|█████▏    | 467/900 [1:00:21<4:58:36, 41.38s/it]
 52%|█████▏    | 468/900 [1:00:21<3:29:15, 29.06s/it]
 52%|█████▏    | 469/900 [1:00:21<2:26:51, 20.44s/it]
 52%|█████▏    | 470/900 [1:00:22<1:43:16, 14.41s/it]
 52%|█████▏    | 471/900 [1:00:22<1:12:50, 10.19s/it]
 52%|█████▏    | 472/900 [1:00:22<51:35,  7.23s/it]  
 53%|█████▎    | 473/900 [1:01:31<3:02:48, 25.69s/it]
 53%|█████▎    | 474/900 [1:01:32<2:08:23, 18.08s/it]
 53%|█████▎    | 475/900 [1:01:32<1:30:24, 12.76s/it]
 53%|█████▎    | 476/900 [1:01:32<1:03:51,  9.04s/it]
 53%|█████▎    | 477/900 [1:01:33<45:18,  6.43s/it]  
 53%|█████▎    | 478/900 [1:01:33<32:21,  4.60s/it]
 53%|█████▎    | 479/900 [1:01:33<23:18,  3.32s/it]
 53%|█████▎    | 480/900 [1:01:34<16:59,  2.43s/it]
 53%|█████▎    | 481/900 [1:03:49<4:55:13, 42.28s/it]
 54%|█████▎    | 482/900 [1:03:49<3:26:54, 29.70s/it]
 54%|█████▎    | 483/900 [1:03:50<2:25:12, 20.89s/it]
 54%|█████▍    | 484/900 [1:03:50<1:42:05, 14.72s/it]
 54%|█████▍    | 485/900 [1:03:50<1:12:01, 10.41s/it]
 54%|█████▍    | 486/900 [1:03:51<51:00,  7.39s/it]  
 54%|█████▍    | 487/900 [1:03:51<36:18,  5.28s/it]
 54%|█████▍    | 488/900 [1:03:51<26:02,  3.79s/it]
 54%|█████▍    | 489/900 [1:05:52<4:26:56, 38.97s/it]
 54%|█████▍    | 490/900 [1:05:53<3:07:06, 27.38s/it]
 55%|█████▍    | 491/900 [1:05:53<2:11:21, 19.27s/it]
 55%|█████▍    | 492/900 [1:05:53<1:32:24, 13.59s/it]
 55%|█████▍    | 493/900 [1:05:54<1:05:12,  9.61s/it]
 55%|█████▍    | 494/900 [1:05:54<46:12,  6.83s/it]  
 55%|█████▌    | 495/900 [1:05:54<32:56,  4.88s/it]
 55%|█████▌    | 496/900 [1:05:55<23:40,  3.52s/it]
 55%|█████▌    | 497/900 [1:10:49<10:09:09, 90.69s/it]
 55%|█████▌    | 498/900 [1:10:49<7:06:02, 63.59s/it] 
 55%|█████▌    | 499/900 [1:10:49<4:58:10, 44.62s/it]
 56%|█████▌    | 500/900 [1:10:50<3:29:49, 31.47s/it]
 56%|█████▌    | 501/900 [1:10:51<2:27:12, 22.14s/it]
 56%|█████▌    | 502/900 [1:10:51<1:43:27, 15.60s/it]
 56%|█████▌    | 503/900 [1:10:51<1:12:55, 11.02s/it]
 56%|█████▌    | 504/900 [1:10:52<51:35,  7.82s/it]  
 56%|█████▌    | 505/900 [1:20:15<19:08:30, 174.46s/it]
 56%|█████▌    | 506/900 [1:20:15<13:22:35, 122.22s/it]
 56%|█████▋    | 507/900 [1:20:16<9:21:02, 85.66s/it]  
 56%|█████▋    | 508/900 [1:20:16<6:32:23, 60.06s/it]
 57%|█████▋    | 509/900 [1:20:16<4:34:37, 42.14s/it]
 57%|█████▋    | 510/900 [1:20:17<3:12:24, 29.60s/it]
 57%|█████▋    | 511/900 [1:20:17<2:15:00, 20.82s/it]
 57%|█████▋    | 512/900 [1:20:17<1:34:55, 14.68s/it]
 57%|█████▋    | 513/900 [1:23:15<6:49:25, 63.48s/it]
 57%|█████▋    | 514/900 [1:23:15<4:46:30, 44.53s/it]
 57%|█████▋    | 515/900 [1:23:15<3:20:40, 31.27s/it]
 57%|█████▋    | 516/900 [1:23:16<2:20:45, 21.99s/it]
 57%|█████▋    | 517/900 [1:23:16<1:38:55, 15.50s/it]
 58%|█████▊    | 518/900 [1:23:16<1:09:42, 10.95s/it]
 58%|█████▊    | 519/900 [1:23:17<49:18,  7.77s/it]  
 58%|█████▊    | 520/900 [1:23:17<35:03,  5.54s/it]
 58%|█████▊    | 521/900 [1:26:03<5:40:02, 53.83s/it]
 58%|█████▊    | 522/900 [1:26:04<3:58:01, 37.78s/it]
 58%|█████▊    | 523/900 [1:26:04<2:46:48, 26.55s/it]
 58%|█████▊    | 524/900 [1:26:04<1:57:04, 18.68s/it]
 58%|█████▊    | 525/900 [1:26:05<1:22:21, 13.18s/it]
 58%|█████▊    | 526/900 [1:26:05<58:06,  9.32s/it]  
 59%|█████▊    | 527/900 [1:26:05<41:10,  6.62s/it]
 59%|█████▊    | 528/900 [1:26:06<29:21,  4.74s/it]
 59%|█████▉    | 529/900 [1:29:51<7:17:22, 70.74s/it]
 59%|█████▉    | 530/900 [1:29:51<5:05:58, 49.62s/it]
 59%|█████▉    | 531/900 [1:29:51<3:34:12, 34.83s/it]
 59%|█████▉    | 532/900 [1:29:52<2:30:08, 24.48s/it]
 59%|█████▉    | 533/900 [1:29:52<1:45:25, 17.24s/it]
 59%|█████▉    | 534/900 [1:29:52<1:14:12, 12.17s/it]
 59%|█████▉    | 535/900 [1:29:53<52:24,  8.62s/it]  
 60%|█████▉    | 536/900 [1:29:53<37:12,  6.13s/it]
 60%|█████▉    | 537/900 [1:31:30<3:21:48, 33.36s/it]
 60%|█████▉    | 538/900 [1:31:30<2:21:28, 23.45s/it]
 60%|█████▉    | 539/900 [1:31:30<1:39:20, 16.51s/it]
 60%|██████    | 540/900 [1:31:31<1:09:56, 11.66s/it]
 60%|██████    | 541/900 [1:31:31<49:24,  8.26s/it]  
 60%|██████    | 542/900 [1:31:31<35:05,  5.88s/it]
 60%|██████    | 543/900 [1:31:32<25:05,  4.22s/it]
 60%|██████    | 544/900 [1:31:32<18:05,  3.05s/it]
 60%|██████    | 544/900 [2:01:33<1:19:33, 13.41s/it]
+2026-11-02T09:20:50Z [31,237,311ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-02T09:20:54Z] GPU 7: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-02T09:21:24Z] GPU 7: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:7
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261102_092130.log
+2026-11-02T09:21:30Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-02T09:21:30Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-02T09:21:30Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-02T09:21:30Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-02T09:21:30Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-02T09:21:30Z [29ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-02T09:21:30Z [32ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-02T09:21:30Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-02T09:21:30Z [38ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-02T09:21:30Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-02T09:21:30Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-02T09:21:30Z [48ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-02T09:21:30Z [51ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-02T09:21:30Z [54ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-02T09:21:30Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-02T09:21:30Z [60ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-02T09:21:30Z [63ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-02T09:21:35Z [4,982ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T09:21:35Z [4,982ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T09:21:35Z [5,083ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-02T09:21:35Z [5,836ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T09:21:35Z [5,837ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T09:21:35Z [5,838ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 872439
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-02T09:21:38Z [7,972ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-02T09:21:38Z [7,973ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 910.20  17.63  17.52  16.28  17.99  18.32  18.40  18.40 
+     1  19.73 921.83  17.89  18.87  19.29  19.66  19.80  18.87 
+     2  19.42  18.41 919.66  17.13  18.85  18.54  19.11  18.48 
+     3  17.66  19.34  18.10 920.74  19.54  18.74  19.78  19.63 
+     4  21.88  22.38  20.61  22.27 920.62  22.26  22.18  22.03 
+     5  20.28  22.40  20.29  22.52  22.58 920.20  21.85  22.11 
+     6  19.78  22.37  20.63  22.42  22.48  22.12 919.66  21.82 
+     7  20.29  22.43  20.57  22.45  22.21  22.03  20.53 921.83 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  11.60  11.81  11.52  11.51  11.51  11.43  11.43 
+     1  15.39   1.42  11.46  11.28  11.43  11.52  11.43  11.51 
+     2  11.59  11.52   1.35  11.63  11.34  11.34  11.44  11.41 
+     3  11.44  11.51  11.26   1.40  11.35  18.11  12.12  11.87 
+     4  14.52  13.18  15.03  16.29   1.40  20.13  15.91  20.45 
+     5  11.99  19.34  16.22  15.65  11.34   1.39  15.85  11.34 
+     6  12.59  12.06  15.34  14.92  14.57  12.56   1.48  19.50 
+     7  11.76  15.08  15.45  11.93  13.12  11.72  12.17   1.36 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.81   8.28   8.10   7.83   8.72   8.55   8.69   8.50 
+     1   8.19   2.70   7.95   7.85   8.59   8.45   8.50   8.40 
+     2   8.03   7.84   2.51   7.81   8.75   8.51   8.56   8.42 
+     3   8.08   7.71   7.88   2.64   8.70   8.89  11.84  10.86 
+     4  11.01  10.50  10.70  10.45   3.66  12.19  12.28  11.76 
+     5  10.20   9.99  10.94  10.06  11.95   3.49  11.86  11.66 
+     6  12.44  10.00  10.00   9.86  11.62  11.41   3.51  11.46 
+     7  10.21  10.62   9.92   9.83  11.59  11.31  11.52   3.46 
+2026-11-02T09:21:40Z [10,650ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.3 GB/s.
+2026-11-02T09:21:40Z [10,650ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-02T09:21:40Z [10,650ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-02T09:21:44Z [14,461ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T09:21:44Z [14,462ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T09:21:44Z [14,566ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T09:21:44Z [14,567ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T09:21:44Z [14,578ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T09:21:44Z [14,578ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T09:21:44Z [14,821ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T09:21:44Z [14,821ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T09:21:44Z [14,827ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T09:21:44Z [14,827ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T09:21:44Z [14,833ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-02T09:21:44Z [14,833ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-02T09:21:46Z [15,936ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-02T09:21:50Z [20,095ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-02T09:22:02Z [32,335ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-02T09:22:03Z [33,651ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-02T09:22:19Z [49,094ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-02T09:22:19Z [49,096ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-02T09:22:19Z [49,619ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-02T09:22:23Z [52,892ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T09:22:23Z [52,894ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T09:22:23Z [52,898ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T09:22:23Z [52,920ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-02T09:22:23Z [52,933ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-02T09:22:23Z [52,933ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-02T09:22:37Z [67,846ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55cd851a3b80>)
+
+2026-11-02T09:22:37Z [67,847ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55cd851a3b80>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab.
+[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T09:22:44Z [74,122ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.482367 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T09:22:49Z [79,350ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T09:22:49Z [79,351ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T09:22:49Z [79,426ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T09:22:49Z [79,427ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T09:22:49Z [79,436ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T09:22:49Z [79,443ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T09:22:49Z [79,627ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T09:22:49Z [79,652ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-02T09:22:54Z [84,345ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-02T09:22:54Z [84,346ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-02T09:22:54Z [84,364ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-02T09:22:54Z [84,364ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-02T09:22:54Z [84,377ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-02T09:22:54Z [84,377ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-02T09:22:54Z [84,430ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-02T09:22:54Z [84,431ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-02T09:22:56Z [86,610ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-02T09:22:56Z [86,610ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-02T09:22:56Z [86,622ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+2026-11-02T09:22:56Z [86,622ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,507ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-02T09:22:57Z [87,825ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,825ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,826ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,826ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,827ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,827ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,829ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,829ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,832ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,832ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,833ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+2026-11-02T09:22:57Z [87,833ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 13.312574 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `ReorientWhiteMugsTask` run `0` already done. Skipping.
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:51<12:55:59, 51.79s/it]
  0%|          | 2/900 [00:52<5:22:08, 21.52s/it] 
  0%|          | 3/900 [00:52<2:57:02, 11.84s/it]
  0%|          | 4/900 [00:52<1:48:52,  7.29s/it]
  1%|          | 5/900 [00:53<1:11:15,  4.78s/it]
  1%|          | 6/900 [00:53<48:36,  3.26s/it]  
  1%|          | 7/900 [00:53<34:14,  2.30s/it]
  1%|          | 8/900 [00:54<24:47,  1.67s/it]
  1%|          | 9/900 [01:11<1:39:54,  6.73s/it]
  1%|          | 10/900 [01:12<1:10:26,  4.75s/it]
  1%|          | 11/900 [01:12<50:18,  3.40s/it]  
  1%|▏         | 12/900 [01:12<36:22,  2.46s/it]
  1%|▏         | 13/900 [01:13<26:44,  1.81s/it]
  2%|▏         | 14/900 [01:13<20:03,  1.36s/it]
  2%|▏         | 15/900 [01:13<15:23,  1.04s/it]
  2%|▏         | 16/900 [01:14<12:08,  1.21it/s]
  2%|▏         | 17/900 [01:57<3:20:46, 13.64s/it]
  2%|▏         | 18/900 [01:57<2:21:40,  9.64s/it]
  2%|▏         | 19/900 [01:58<1:40:22,  6.84s/it]
  2%|▏         | 20/900 [01:58<1:11:35,  4.88s/it]
  2%|▏         | 21/900 [01:58<51:28,  3.51s/it]  
  2%|▏         | 22/900 [01:59<37:26,  2.56s/it]
  3%|▎         | 23/900 [01:59<27:31,  1.88s/it]
  3%|▎         | 24/900 [01:59<20:34,  1.41s/it]
  3%|▎         | 25/900 [02:15<1:23:34,  5.73s/it]
  3%|▎         | 26/900 [02:15<59:49,  4.11s/it]  
  3%|▎         | 27/900 [02:16<43:14,  2.97s/it]2026-11-02T09:25:15Z [225,668ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  3%|▎         | 28/900 [02:16<31:36,  2.18s/it]
  3%|▎         | 29/900 [02:16<23:30,  1.62s/it]
  3%|▎         | 30/900 [02:17<17:51,  1.23s/it]
  3%|▎         | 31/900 [02:17<13:54,  1.04it/s]
  4%|▎         | 32/900 [02:17<11:09,  1.30it/s]
  4%|▎         | 33/900 [02:50<2:29:37, 10.35s/it]
  4%|▍         | 34/900 [02:50<1:46:00,  7.34s/it]
  4%|▍         | 35/900 [02:51<1:15:30,  5.24s/it]
  4%|▍         | 36/900 [02:51<54:12,  3.76s/it]  
  4%|▍         | 37/900 [02:51<39:20,  2.74s/it]
  4%|▍         | 38/900 [02:52<28:56,  2.01s/it]
  4%|▍         | 39/900 [02:52<21:38,  1.51s/it]
  4%|▍         | 40/900 [02:52<16:33,  1.16s/it]
  5%|▍         | 41/900 [03:24<2:27:32, 10.31s/it]
  5%|▍         | 42/900 [03:24<1:44:36,  7.32s/it]
  5%|▍         | 43/900 [03:25<1:14:35,  5.22s/it]
  5%|▍         | 44/900 [03:25<53:34,  3.76s/it]  
  5%|▌         | 45/900 [03:25<38:55,  2.73s/it]
  5%|▌         | 46/900 [03:26<28:40,  2.01s/it]
  5%|▌         | 47/900 [03:26<21:31,  1.51s/it]
  5%|▌         | 48/900 [03:26<16:29,  1.16s/it]
  5%|▌         | 49/900 [04:08<3:08:09, 13.27s/it]
  6%|▌         | 50/900 [04:08<2:13:01,  9.39s/it]
  6%|▌         | 51/900 [04:09<1:34:27,  6.68s/it]
  6%|▌         | 52/900 [04:09<1:07:29,  4.78s/it]
  6%|▌         | 53/900 [04:09<48:38,  3.45s/it]  
  6%|▌         | 54/900 [04:10<35:26,  2.51s/it]
  6%|▌         | 55/900 [04:10<26:11,  1.86s/it]
  6%|▌         | 56/900 [04:10<19:37,  1.39s/it]
  6%|▋         | 57/900 [04:54<3:16:28, 13.98s/it]
  6%|▋         | 58/900 [04:54<2:18:42,  9.88s/it]
  7%|▋         | 59/900 [04:54<1:38:17,  7.01s/it]
  7%|▋         | 60/900 [04:55<1:10:03,  5.00s/it]
  7%|▋         | 61/900 [04:55<50:17,  3.60s/it]  
  7%|▋         | 62/900 [04:55<36:30,  2.61s/it]
  7%|▋         | 63/900 [04:56<26:49,  1.92s/it]
  7%|▋         | 64/900 [04:56<20:04,  1.44s/it]
  7%|▋         | 65/900 [05:22<2:04:56,  8.98s/it]
  7%|▋         | 66/900 [05:23<1:28:40,  6.38s/it]
  7%|▋         | 67/900 [05:23<1:03:18,  4.56s/it]
  8%|▊         | 68/900 [05:23<45:34,  3.29s/it]  
  8%|▊         | 69/900 [05:24<33:09,  2.39s/it]
  8%|▊         | 70/900 [05:24<24:28,  1.77s/it]
  8%|▊         | 71/900 [05:24<18:26,  1.33s/it]
  8%|▊         | 72/900 [05:25<14:12,  1.03s/it]
  8%|▊         | 73/900 [05:57<2:22:20, 10.33s/it]
  8%|▊         | 74/900 [05:57<1:40:54,  7.33s/it]
  8%|▊         | 75/900 [05:57<1:11:55,  5.23s/it]
  8%|▊         | 76/900 [05:58<51:39,  3.76s/it]  
  9%|▊         | 77/900 [05:58<37:29,  2.73s/it]
  9%|▊         | 78/900 [05:58<27:35,  2.01s/it]
  9%|▉         | 79/900 [05:59<20:39,  1.51s/it]
  9%|▉         | 80/900 [05:59<15:49,  1.16s/it]
  9%|▉         | 81/900 [06:14<1:14:24,  5.45s/it]
  9%|▉         | 82/900 [06:15<53:24,  3.92s/it]  
  9%|▉         | 83/900 [06:15<38:38,  2.84s/it]
  9%|▉         | 84/900 [06:15<28:19,  2.08s/it]
  9%|▉         | 85/900 [06:16<21:10,  1.56s/it]
 10%|▉         | 86/900 [06:16<16:05,  1.19s/it]
 10%|▉         | 87/900 [06:16<12:31,  1.08it/s]
 10%|▉         | 88/900 [06:17<10:02,  1.35it/s]
 10%|▉         | 89/900 [06:39<1:36:54,  7.17s/it]
 10%|█         | 90/900 [06:39<1:09:00,  5.11s/it]
 10%|█         | 91/900 [06:39<49:31,  3.67s/it]  
 10%|█         | 92/900 [06:40<35:52,  2.66s/it]
 10%|█         | 93/900 [06:40<26:19,  1.96s/it]
 10%|█         | 94/900 [06:40<19:39,  1.46s/it]
 11%|█         | 95/900 [06:41<14:59,  1.12s/it]
 11%|█         | 96/900 [06:41<11:43,  1.14it/s]
 11%|█         | 97/900 [07:06<1:50:06,  8.23s/it]
 11%|█         | 98/900 [07:07<1:18:13,  5.85s/it]
 11%|█         | 99/900 [07:07<55:56,  4.19s/it]  
 11%|█         | 100/900 [07:07<40:21,  3.03s/it]
 11%|█         | 101/900 [07:08<29:28,  2.21s/it]
 11%|█▏        | 102/900 [07:08<21:50,  1.64s/it]
 11%|█▏        | 103/900 [07:08<16:31,  1.24s/it]
 12%|█▏        | 104/900 [07:09<12:47,  1.04it/s]
 12%|█▏        | 105/900 [07:40<2:13:14, 10.06s/it]
 12%|█▏        | 106/900 [07:40<1:34:24,  7.13s/it]
 12%|█▏        | 107/900 [07:41<1:07:14,  5.09s/it]
 12%|█▏        | 108/900 [07:41<48:16,  3.66s/it]  
 12%|█▏        | 109/900 [07:41<34:58,  2.65s/it]
 12%|█▏        | 110/900 [07:41<25:42,  1.95s/it]
 12%|█▏        | 111/900 [07:42<19:12,  1.46s/it]
 12%|█▏        | 112/900 [07:42<14:40,  1.12s/it]
 13%|█▎        | 113/900 [08:00<1:19:46,  6.08s/it]
 13%|█▎        | 114/900 [08:00<57:05,  4.36s/it]  
 13%|█▎        | 115/900 [08:00<41:13,  3.15s/it]
 13%|█▎        | 116/900 [08:01<30:06,  2.30s/it]
 13%|█▎        | 117/900 [08:01<22:20,  1.71s/it]
 13%|█▎        | 118/900 [08:01<16:53,  1.30s/it]
 13%|█▎        | 119/900 [08:02<13:04,  1.00s/it]
 13%|█▎        | 120/900 [08:02<10:24,  1.25it/s]
 13%|█▎        | 121/900 [08:27<1:43:21,  7.96s/it]
 14%|█▎        | 122/900 [08:27<1:13:28,  5.67s/it]
 14%|█▎        | 123/900 [08:27<52:33,  4.06s/it]  
 14%|█▍        | 124/900 [08:28<37:56,  2.93s/it]
 14%|█▍        | 125/900 [08:28<27:44,  2.15s/it]
 14%|█▍        | 126/900 [08:28<20:36,  1.60s/it]
 14%|█▍        | 127/900 [08:29<15:37,  1.21s/it]
 14%|█▍        | 128/900 [08:29<12:07,  1.06it/s]
 14%|█▍        | 129/900 [09:02<2:15:45, 10.56s/it]
 14%|█▍        | 130/900 [09:02<1:36:09,  7.49s/it]
 15%|█▍        | 131/900 [09:03<1:08:31,  5.35s/it]
 15%|█▍        | 132/900 [09:03<49:05,  3.84s/it]  
 15%|█▍        | 133/900 [09:03<35:31,  2.78s/it]
 15%|█▍        | 134/900 [09:04<26:07,  2.05s/it]
 15%|█▌        | 135/900 [09:04<19:32,  1.53s/it]
 15%|█▌        | 136/900 [09:04<14:51,  1.17s/it]
 15%|█▌        | 137/900 [09:48<2:58:08, 14.01s/it]
 15%|█▌        | 138/900 [09:48<2:05:44,  9.90s/it]
 15%|█▌        | 139/900 [09:49<1:29:06,  7.03s/it]
 16%|█▌        | 140/900 [09:49<1:03:29,  5.01s/it]
 16%|█▌        | 141/900 [09:49<45:37,  3.61s/it]  
 16%|█▌        | 142/900 [09:50<33:09,  2.62s/it]
 16%|█▌        | 143/900 [09:50<24:26,  1.94s/it]
 16%|█▌        | 144/900 [09:50<18:20,  1.46s/it]
 16%|█▌        | 145/900 [10:13<1:38:38,  7.84s/it]
 16%|█▌        | 146/900 [10:14<1:10:13,  5.59s/it]
 16%|█▋        | 147/900 [10:14<50:21,  4.01s/it]  
 16%|█▋        | 148/900 [10:14<36:29,  2.91s/it]
 17%|█▋        | 149/900 [10:15<26:45,  2.14s/it]
 17%|█▋        | 150/900 [10:15<19:55,  1.59s/it]
 17%|█▋        | 151/900 [10:15<15:09,  1.21s/it]
 17%|█▋        | 152/900 [10:15<11:48,  1.06it/s]
 17%|█▋        | 153/900 [10:56<2:39:35, 12.82s/it]
 17%|█▋        | 154/900 [10:56<1:52:48,  9.07s/it]
 17%|█▋        | 155/900 [10:57<1:20:05,  6.45s/it]
 17%|█▋        | 156/900 [10:57<57:15,  4.62s/it]  
 17%|█▋        | 157/900 [10:57<41:15,  3.33s/it]
 18%|█▊        | 158/900 [10:58<30:05,  2.43s/it]
 18%|█▊        | 159/900 [10:58<22:15,  1.80s/it]
 18%|█▊        | 160/900 [10:58<16:46,  1.36s/it]
 18%|█▊        | 161/900 [12:14<4:50:49, 23.61s/it]
 18%|█▊        | 162/900 [12:14<3:24:30, 16.63s/it]
 18%|█▊        | 163/900 [12:15<2:24:07, 11.73s/it]
 18%|█▊        | 164/900 [12:15<1:41:55,  8.31s/it]
 18%|█▊        | 165/900 [12:15<1:12:26,  5.91s/it]
 18%|█▊        | 166/900 [12:15<51:48,  4.24s/it]  
 19%|█▊        | 167/900 [12:16<37:22,  3.06s/it]
 19%|█▊        | 168/900 [12:16<27:20,  2.24s/it]
 19%|█▉        | 169/900 [14:11<7:17:34, 35.92s/it]
 19%|█▉        | 170/900 [14:11<5:07:06, 25.24s/it]
 19%|█▉        | 171/900 [14:11<3:35:53, 17.77s/it]
 19%|█▉        | 172/900 [14:12<2:32:05, 12.54s/it]
 19%|█▉        | 173/900 [14:12<1:47:32,  8.88s/it]
 19%|█▉        | 174/900 [14:12<1:16:21,  6.31s/it]
 19%|█▉        | 175/900 [14:13<54:35,  4.52s/it]  
 20%|█▉        | 176/900 [14:13<39:23,  3.26s/it]
 20%|█▉        | 177/900 [14:44<2:20:08, 11.63s/it]
 20%|█▉        | 178/900 [14:44<1:39:10,  8.24s/it]
 20%|█▉        | 179/900 [14:45<1:10:32,  5.87s/it]
 20%|██        | 180/900 [14:45<50:32,  4.21s/it]  
 20%|██        | 181/900 [14:45<36:33,  3.05s/it]
 20%|██        | 182/900 [14:46<26:50,  2.24s/it]
 20%|██        | 183/900 [14:46<20:00,  1.67s/it]
 20%|██        | 184/900 [14:47<15:15,  1.28s/it]
 21%|██        | 185/900 [15:50<3:56:59, 19.89s/it]
 21%|██        | 186/900 [15:50<2:46:55, 14.03s/it]
 21%|██        | 187/900 [15:51<1:57:55,  9.92s/it]
 21%|██        | 188/900 [15:51<1:23:43,  7.06s/it]
 21%|██        | 189/900 [15:51<59:48,  5.05s/it]  
 21%|██        | 190/900 [15:52<43:03,  3.64s/it]
 21%|██        | 191/900 [15:52<31:20,  2.65s/it]
 21%|██▏       | 192/900 [15:52<23:06,  1.96s/it]
 21%|██▏       | 193/900 [16:20<1:52:31,  9.55s/it]
 22%|██▏       | 194/900 [16:20<1:19:57,  6.80s/it]
 22%|██▏       | 195/900 [16:20<57:07,  4.86s/it]  
 22%|██▏       | 196/900 [16:21<41:08,  3.51s/it]
 22%|██▏       | 197/900 [16:21<29:57,  2.56s/it]
 22%|██▏       | 198/900 [16:21<22:04,  1.89s/it]
 22%|██▏       | 199/900 [16:22<16:32,  1.42s/it]
 22%|██▏       | 200/900 [16:22<12:39,  1.08s/it]
 22%|██▏       | 201/900 [18:04<6:07:12, 31.52s/it]
 22%|██▏       | 202/900 [18:05<4:17:46, 22.16s/it]
 23%|██▎       | 203/900 [18:05<3:01:16, 15.61s/it]
 23%|██▎       | 204/900 [18:05<2:07:48, 11.02s/it]
 23%|██▎       | 205/900 [18:06<1:30:25,  7.81s/it]
 23%|██▎       | 206/900 [18:06<1:04:17,  5.56s/it]
 23%|██▎       | 207/900 [18:06<46:02,  3.99s/it]  
 23%|██▎       | 208/900 [18:07<33:15,  2.88s/it]
 23%|██▎       | 209/900 [18:56<3:14:49, 16.92s/it]
 23%|██▎       | 210/900 [18:57<2:17:15, 11.94s/it]
 23%|██▎       | 211/900 [18:57<1:37:01,  8.45s/it]
 24%|██▎       | 212/900 [18:57<1:08:53,  6.01s/it]
 24%|██▎       | 213/900 [18:58<49:12,  4.30s/it]  
 24%|██▍       | 214/900 [18:58<35:28,  3.10s/it]
 24%|██▍       | 215/900 [18:58<25:53,  2.27s/it]
 24%|██▍       | 216/900 [18:59<19:10,  1.68s/it]
 24%|██▍       | 217/900 [20:12<4:23:24, 23.14s/it]
 24%|██▍       | 218/900 [20:12<3:05:11, 16.29s/it]
 24%|██▍       | 219/900 [20:12<2:10:31, 11.50s/it]
 24%|██▍       | 220/900 [20:13<1:32:18,  8.14s/it]
 25%|██▍       | 221/900 [20:13<1:05:35,  5.80s/it]
 25%|██▍       | 222/900 [20:13<46:54,  4.15s/it]  
 25%|██▍       | 223/900 [20:14<33:49,  3.00s/it]
 25%|██▍       | 224/900 [20:14<24:42,  2.19s/it]
 25%|██▌       | 225/900 [20:56<2:38:33, 14.09s/it]
 25%|██▌       | 226/900 [20:56<1:51:54,  9.96s/it]
 25%|██▌       | 227/900 [20:56<1:19:15,  7.07s/it]
 25%|██▌       | 228/900 [20:57<56:27,  5.04s/it]  
 25%|██▌       | 229/900 [20:57<40:33,  3.63s/it]
 26%|██▌       | 230/900 [20:57<29:27,  2.64s/it]
 26%|██▌       | 231/900 [20:58<21:42,  1.95s/it]
 26%|██▌       | 232/900 [20:58<16:18,  1.47s/it]
 26%|██▌       | 233/900 [21:42<2:38:15, 14.24s/it]
 26%|██▌       | 234/900 [21:42<1:51:42, 10.06s/it]
 26%|██▌       | 235/900 [21:43<1:19:09,  7.14s/it]
 26%|██▌       | 236/900 [21:43<56:27,  5.10s/it]  
 26%|██▋       | 237/900 [21:43<40:33,  3.67s/it]
 26%|██▋       | 238/900 [21:44<29:27,  2.67s/it]
 27%|██▋       | 239/900 [21:44<21:41,  1.97s/it]
 27%|██▋       | 240/900 [21:44<16:15,  1.48s/it]
 27%|██▋       | 241/900 [28:57<23:57:53, 130.92s/it]
 27%|██▋       | 242/900 [28:58<16:46:03, 91.74s/it] 
 27%|██▋       | 243/900 [28:58<11:44:15, 64.32s/it]
 27%|██▋       | 244/900 [28:58<8:13:20, 45.12s/it] 
 27%|██▋       | 245/900 [28:59<5:45:55, 31.69s/it]
 27%|██▋       | 246/900 [28:59<4:02:53, 22.28s/it]
 27%|██▋       | 247/900 [28:59<2:50:50, 15.70s/it]
 28%|██▊       | 248/900 [29:00<2:00:31, 11.09s/it]
 28%|██▊       | 249/900 [30:18<5:38:57, 31.24s/it]
 28%|██▊       | 250/900 [30:18<3:57:56, 21.96s/it]
 28%|██▊       | 251/900 [30:19<2:47:20, 15.47s/it]
 28%|██▊       | 252/900 [30:19<1:57:57, 10.92s/it]
 28%|██▊       | 253/900 [30:19<1:23:28,  7.74s/it]
 28%|██▊       | 254/900 [30:20<59:24,  5.52s/it]  
 28%|██▊       | 255/900 [30:20<42:35,  3.96s/it]
 28%|██▊       | 256/900 [30:20<30:50,  2.87s/it]
 29%|██▊       | 257/900 [35:47<17:53:29, 100.17s/it]
 29%|██▊       | 258/900 [35:48<12:31:21, 70.22s/it] 
 29%|██▉       | 259/900 [35:48<8:46:10, 49.25s/it] 
 29%|██▉       | 260/900 [35:48<6:08:49, 34.58s/it]
 29%|██▉       | 261/900 [35:49<4:18:52, 24.31s/it]
 29%|██▉       | 262/900 [35:49<3:02:02, 17.12s/it]
 29%|██▉       | 263/900 [35:49<2:08:19, 12.09s/it]
 29%|██▉       | 264/900 [35:50<1:30:47,  8.56s/it]
 29%|██▉       | 265/900 [37:43<7:01:41, 39.84s/it]
 30%|██▉       | 266/900 [37:43<4:55:43, 27.99s/it]
 30%|██▉       | 267/900 [37:43<3:27:40, 19.68s/it]
 30%|██▉       | 268/900 [37:44<2:26:09, 13.88s/it]
 30%|██▉       | 269/900 [37:44<1:43:09,  9.81s/it]
 30%|███       | 270/900 [37:44<1:13:06,  6.96s/it]
 30%|███       | 271/900 [37:45<52:05,  4.97s/it]  
 30%|███       | 272/900 [37:45<37:27,  3.58s/it]
 30%|███       | 273/900 [38:09<1:41:10,  9.68s/it]
 30%|███       | 274/900 [38:09<1:11:46,  6.88s/it]
 31%|███       | 275/900 [38:09<51:14,  4.92s/it]  
 31%|███       | 276/900 [38:10<36:52,  3.55s/it]
 31%|███       | 277/900 [38:10<26:49,  2.58s/it]
 31%|███       | 278/900 [38:10<19:47,  1.91s/it]
 31%|███       | 279/900 [38:11<14:51,  1.44s/it]
 31%|███       | 280/900 [38:11<11:24,  1.10s/it]
 31%|███       | 281/900 [42:21<13:01:56, 75.79s/it]
 31%|███▏      | 282/900 [42:22<9:07:32, 53.16s/it] 
 31%|███▏      | 283/900 [42:22<6:23:41, 37.31s/it]
 32%|███▏      | 284/900 [42:22<4:29:09, 26.22s/it]
 32%|███▏      | 285/900 [42:23<3:09:05, 18.45s/it]
 32%|███▏      | 286/900 [42:23<2:13:05, 13.01s/it]
 32%|███▏      | 287/900 [42:23<1:33:58,  9.20s/it]
 32%|███▏      | 288/900 [42:23<1:06:36,  6.53s/it]
 32%|███▏      | 289/900 [43:12<3:15:57, 19.24s/it]
 32%|███▏      | 290/900 [43:13<2:17:57, 13.57s/it]
 32%|███▏      | 291/900 [43:13<1:37:21,  9.59s/it]
 32%|███▏      | 292/900 [43:13<1:09:01,  6.81s/it]
 33%|███▎      | 293/900 [43:14<49:10,  4.86s/it]  
 33%|███▎      | 294/900 [43:14<35:21,  3.50s/it]
 33%|███▎      | 295/900 [43:14<25:40,  2.55s/it]
 33%|███▎      | 296/900 [43:15<18:53,  1.88s/it]
 33%|███▎      | 297/900 [44:13<3:07:53, 18.70s/it]
 33%|███▎      | 298/900 [44:13<2:12:17, 13.18s/it]
 33%|███▎      | 299/900 [44:13<1:33:24,  9.32s/it]
 33%|███▎      | 300/900 [44:14<1:06:12,  6.62s/it]
 33%|███▎      | 301/900 [44:14<47:13,  4.73s/it]  
 34%|███▎      | 302/900 [44:14<33:57,  3.41s/it]
 34%|███▎      | 303/900 [44:14<24:44,  2.49s/it]
 34%|███▍      | 304/900 [44:15<18:16,  1.84s/it]
 34%|███▍      | 305/900 [46:51<7:56:15, 48.03s/it]
 34%|███▍      | 306/900 [46:51<5:33:51, 33.72s/it]
 34%|███▍      | 307/900 [46:51<3:54:20, 23.71s/it]
 34%|███▍      | 308/900 [46:52<2:44:46, 16.70s/it]
 34%|███▍      | 309/900 [46:52<1:56:10, 11.79s/it]
 34%|███▍      | 310/900 [46:52<1:22:13,  8.36s/it]
 35%|███▍      | 311/900 [46:53<58:29,  5.96s/it]  
 35%|███▍      | 312/900 [46:53<41:53,  4.28s/it]
 35%|███▍      | 313/900 [47:33<2:26:39, 14.99s/it]
 35%|███▍      | 314/900 [47:33<1:43:34, 10.60s/it]
 35%|███▌      | 315/900 [47:34<1:13:24,  7.53s/it]
 35%|███▌      | 316/900 [47:34<52:18,  5.37s/it]  
 35%|███▌      | 317/900 [47:34<37:32,  3.86s/it]
 35%|███▌      | 318/900 [47:35<27:12,  2.81s/it]
 35%|███▌      | 319/900 [47:35<20:01,  2.07s/it]
 36%|███▌      | 320/900 [47:35<14:59,  1.55s/it]
 36%|███▌      | 321/900 [48:24<2:30:02, 15.55s/it]
 36%|███▌      | 322/900 [48:24<1:45:49, 10.99s/it]
 36%|███▌      | 323/900 [48:24<1:14:55,  7.79s/it]
 36%|███▌      | 324/900 [48:25<53:18,  5.55s/it]  
 36%|███▌      | 325/900 [48:25<38:12,  3.99s/it]
 36%|███▌      | 326/900 [48:25<27:40,  2.89s/it]
 36%|███▋      | 327/900 [48:26<20:17,  2.12s/it]
 36%|███▋      | 328/900 [48:26<15:11,  1.59s/it]
 37%|███▋      | 329/900 [50:15<5:22:42, 33.91s/it]
 37%|███▋      | 330/900 [50:16<3:46:28, 23.84s/it]
 37%|███▋      | 331/900 [50:16<2:39:13, 16.79s/it]
 37%|███▋      | 332/900 [50:16<1:52:14, 11.86s/it]
 37%|███▋      | 333/900 [50:17<1:19:22,  8.40s/it]
 37%|███▋      | 334/900 [50:17<56:25,  5.98s/it]  
 37%|███▋      | 335/900 [50:17<40:23,  4.29s/it]
 37%|███▋      | 336/900 [50:18<29:10,  3.10s/it]
 37%|███▋      | 337/900 [1:00:22<28:42:42, 183.59s/it]
 38%|███▊      | 338/900 [1:00:23<20:04:46, 128.62s/it]
 38%|███▊      | 339/900 [1:00:23<14:02:48, 90.14s/it] 
 38%|███▊      | 340/900 [1:00:24<9:49:52, 63.20s/it] 
 38%|███▊      | 341/900 [1:00:24<6:53:07, 44.34s/it]
 38%|███▊      | 342/900 [1:00:24<4:49:37, 31.14s/it]
 38%|███▊      | 343/900 [1:00:25<3:23:18, 21.90s/it]
 38%|███▊      | 344/900 [1:00:25<2:23:02, 15.44s/it]
 38%|███▊      | 345/900 [1:02:12<6:37:54, 43.02s/it]
 38%|███▊      | 346/900 [1:02:13<4:39:02, 30.22s/it]
 39%|███▊      | 347/900 [1:02:13<3:15:56, 21.26s/it]
 39%|███▊      | 348/900 [1:02:13<2:17:49, 14.98s/it]
 39%|███▉      | 349/900 [1:02:14<1:37:14, 10.59s/it]
 39%|███▉      | 350/900 [1:02:14<1:08:57,  7.52s/it]
 39%|███▉      | 351/900 [1:02:14<49:09,  5.37s/it]  
 39%|███▉      | 352/900 [1:02:15<35:17,  3.86s/it]
 39%|███▉      | 353/900 [1:03:08<2:50:33, 18.71s/it]
 39%|███▉      | 354/900 [1:03:08<2:00:06, 13.20s/it]
 39%|███▉      | 355/900 [1:03:09<1:24:51,  9.34s/it]
 40%|███▉      | 356/900 [1:03:09<1:00:12,  6.64s/it]
 40%|███▉      | 357/900 [1:03:09<42:58,  4.75s/it]  
 40%|███▉      | 358/900 [1:03:10<30:57,  3.43s/it]
 40%|███▉      | 359/900 [1:03:10<22:33,  2.50s/it]
 40%|████      | 360/900 [1:03:10<16:40,  1.85s/it]
 40%|████      | 361/900 [1:06:49<10:01:16, 66.93s/it]
 40%|████      | 362/900 [1:06:50<7:01:02, 46.96s/it] 
 40%|████      | 363/900 [1:06:50<4:55:07, 32.98s/it]
 40%|████      | 364/900 [1:06:50<3:27:08, 23.19s/it]
 41%|████      | 365/900 [1:06:51<2:25:38, 16.33s/it]
 41%|████      | 366/900 [1:06:51<1:42:40, 11.54s/it]
 41%|████      | 367/900 [1:06:51<1:12:38,  8.18s/it]
 41%|████      | 368/900 [1:06:52<51:39,  5.83s/it]  
 41%|████      | 369/900 [1:09:02<6:21:31, 43.11s/it]
 41%|████      | 370/900 [1:09:02<4:27:28, 30.28s/it]
 41%|████      | 371/900 [1:09:02<3:07:46, 21.30s/it]
 41%|████▏     | 372/900 [1:09:03<2:12:04, 15.01s/it]
 41%|████▏     | 373/900 [1:09:03<1:33:10, 10.61s/it]
 42%|████▏     | 374/900 [1:09:03<1:05:58,  7.53s/it]
 42%|████▏     | 375/900 [1:09:04<46:58,  5.37s/it]  
 42%|████▏     | 376/900 [1:09:04<33:43,  3.86s/it]
 42%|████▏     | 377/900 [1:10:00<2:48:25, 19.32s/it]
 42%|████▏     | 378/900 [1:10:00<1:58:33, 13.63s/it]
 42%|████▏     | 379/900 [1:10:00<1:23:43,  9.64s/it]
 42%|████▏     | 380/900 [1:10:01<59:22,  6.85s/it]  
 42%|████▏     | 381/900 [1:10:01<42:21,  4.90s/it]
 42%|████▏     | 382/900 [1:10:01<30:28,  3.53s/it]
 43%|████▎     | 383/900 [1:10:02<22:09,  2.57s/it]
 43%|████▎     | 384/900 [1:10:02<16:20,  1.90s/it]
 43%|████▎     | 385/900 [1:10:54<2:26:28, 17.07s/it]
 43%|████▎     | 386/900 [1:10:55<1:43:09, 12.04s/it]
 43%|████▎     | 387/900 [1:10:55<1:12:52,  8.52s/it]
 43%|████▎     | 388/900 [1:10:55<51:42,  6.06s/it]  
 43%|████▎     | 389/900 [1:10:56<36:56,  4.34s/it]
 43%|████▎     | 390/900 [1:10:56<26:37,  3.13s/it]
 43%|████▎     | 391/900 [1:10:56<19:25,  2.29s/it]
 44%|████▎     | 392/900 [1:10:57<14:21,  1.70s/it]
 44%|████▎     | 393/900 [1:11:50<2:25:45, 17.25s/it]
 44%|████▍     | 394/900 [1:11:50<1:42:38, 12.17s/it]
 44%|████▍     | 395/900 [1:11:51<1:12:30,  8.61s/it]
 44%|████▍     | 396/900 [1:11:51<51:26,  6.12s/it]  
 44%|████▍     | 397/900 [1:11:51<36:43,  4.38s/it]
 44%|████▍     | 398/900 [1:11:52<26:27,  3.16s/it]
 44%|████▍     | 399/900 [1:11:52<19:16,  2.31s/it]
 44%|████▍     | 400/900 [1:11:52<14:14,  1.71s/it]
 45%|████▍     | 401/900 [1:13:26<4:02:53, 29.21s/it]
 45%|████▍     | 402/900 [1:13:26<2:50:27, 20.54s/it]
 45%|████▍     | 403/900 [1:13:26<1:59:52, 14.47s/it]
 45%|████▍     | 404/900 [1:13:27<1:24:30, 10.22s/it]
 45%|████▌     | 405/900 [1:13:27<59:48,  7.25s/it]  
 45%|████▌     | 406/900 [1:13:27<42:33,  5.17s/it]
 45%|████▌     | 407/900 [1:13:28<30:30,  3.71s/it]
 45%|████▌     | 408/900 [1:13:28<22:05,  2.69s/it]
 45%|████▌     | 409/900 [1:13:58<1:28:18, 10.79s/it]
 46%|████▌     | 410/900 [1:13:58<1:02:27,  7.65s/it]
 46%|████▌     | 411/900 [1:13:58<44:23,  5.45s/it]  
 46%|████▌     | 412/900 [1:13:59<31:46,  3.91s/it]
 46%|████▌     | 413/900 [1:13:59<22:57,  2.83s/it]
 46%|████▌     | 414/900 [1:13:59<16:48,  2.07s/it]
 46%|████▌     | 415/900 [1:13:59<12:29,  1.55s/it]
 46%|████▌     | 416/900 [1:14:00<09:30,  1.18s/it]
 46%|████▋     | 417/900 [1:15:20<3:19:30, 24.78s/it]
 46%|████▋     | 418/900 [1:15:20<2:20:08, 17.44s/it]
 47%|████▋     | 419/900 [1:15:20<1:38:39, 12.31s/it]
 47%|████▋     | 420/900 [1:15:21<1:09:39,  8.71s/it]
 47%|████▋     | 421/900 [1:15:21<49:24,  6.19s/it]  
 47%|████▋     | 422/900 [1:15:21<35:16,  4.43s/it]
 47%|████▋     | 423/900 [1:15:22<25:23,  3.19s/it]
 47%|████▋     | 424/900 [1:15:22<18:29,  2.33s/it]
 47%|████▋     | 425/900 [1:16:32<2:59:29, 22.67s/it]
 47%|████▋     | 426/900 [1:16:32<2:06:09, 15.97s/it]
 47%|████▋     | 427/900 [1:16:33<1:28:54, 11.28s/it]
 48%|████▊     | 428/900 [1:16:33<1:02:53,  8.00s/it]
 48%|████▊     | 429/900 [1:16:33<44:42,  5.70s/it]  
 48%|████▊     | 430/900 [1:16:34<32:01,  4.09s/it]
 48%|████▊     | 431/900 [1:16:34<23:09,  2.96s/it]
 48%|████▊     | 432/900 [1:16:34<16:57,  2.17s/it]
 48%|████▊     | 433/900 [1:23:22<16:04:43, 123.95s/it]
 48%|████▊     | 434/900 [1:23:23<11:14:39, 86.87s/it] 
 48%|████▊     | 435/900 [1:23:23<7:52:01, 60.91s/it] 
 48%|████▊     | 436/900 [1:23:23<5:30:29, 42.74s/it]
 49%|████▊     | 437/900 [1:23:24<3:51:37, 30.02s/it]
 49%|████▊     | 438/900 [1:23:24<2:42:34, 21.11s/it]
 49%|████▉     | 439/900 [1:23:24<1:54:20, 14.88s/it]
 49%|████▉     | 440/900 [1:23:25<1:20:38, 10.52s/it]
 49%|████▉     | 441/900 [1:23:57<2:09:19, 16.90s/it]
 49%|████▉     | 442/900 [1:23:57<1:31:04, 11.93s/it]
 49%|████▉     | 443/900 [1:23:57<1:04:21,  8.45s/it]
 49%|████▉     | 444/900 [1:23:58<45:40,  6.01s/it]  
 49%|████▉     | 445/900 [1:23:58<32:36,  4.30s/it]
 50%|████▉     | 446/900 [1:23:58<23:29,  3.10s/it]
 50%|████▉     | 447/900 [1:23:58<17:06,  2.27s/it]
 50%|████▉     | 448/900 [1:23:59<12:40,  1.68s/it]
 50%|████▉     | 449/900 [1:25:43<4:03:32, 32.40s/it]
 50%|█████     | 450/900 [1:25:43<2:50:49, 22.78s/it]
 50%|█████     | 451/900 [1:25:44<2:00:00, 16.04s/it]
 50%|█████     | 452/900 [1:25:44<1:24:31, 11.32s/it]
 50%|█████     | 453/900 [1:25:44<59:45,  8.02s/it]  
 50%|█████     | 454/900 [1:25:44<42:25,  5.71s/it]
 51%|█████     | 455/900 [1:25:45<30:19,  4.09s/it]
 51%|█████     | 456/900 [1:25:45<21:58,  2.97s/it]
 51%|█████     | 457/900 [1:26:46<2:29:07, 20.20s/it]
 51%|█████     | 458/900 [1:26:46<1:44:50, 14.23s/it]
 51%|█████     | 459/900 [1:26:46<1:13:54, 10.06s/it]
 51%|█████     | 460/900 [1:26:46<52:18,  7.13s/it]  
 51%|█████     | 461/900 [1:26:47<37:12,  5.09s/it]
 51%|█████▏    | 462/900 [1:26:47<26:42,  3.66s/it]
 51%|█████▏    | 463/900 [1:26:47<19:20,  2.66s/it]
 52%|█████▏    | 464/900 [1:26:48<14:12,  1.95s/it]
 52%|█████▏    | 465/900 [1:27:49<2:23:07, 19.74s/it]
 52%|█████▏    | 466/900 [1:27:49<1:40:40, 13.92s/it]
 52%|█████▏    | 467/900 [1:27:50<1:10:59,  9.84s/it]
 52%|█████▏    | 468/900 [1:27:50<50:17,  6.99s/it]  
 52%|█████▏    | 469/900 [1:27:50<35:49,  4.99s/it]
 52%|█████▏    | 470/900 [1:27:51<25:42,  3.59s/it]
 52%|█████▏    | 471/900 [1:27:51<18:38,  2.61s/it]
 52%|█████▏    | 472/900 [1:27:51<13:42,  1.92s/it]
 53%|█████▎    | 473/900 [1:31:07<7:06:31, 59.93s/it]
 53%|█████▎    | 474/900 [1:31:07<4:58:33, 42.05s/it]
 53%|█████▎    | 475/900 [1:31:07<3:29:09, 29.53s/it]
 53%|█████▎    | 476/900 [1:31:07<2:26:44, 20.77s/it]
 53%|█████▎    | 477/900 [1:31:08<1:43:08, 14.63s/it]
 53%|█████▎    | 478/900 [1:31:08<1:12:43, 10.34s/it]
 53%|█████▎    | 479/900 [1:31:08<51:27,  7.33s/it]  
 53%|█████▎    | 480/900 [1:31:09<36:35,  5.23s/it]
 53%|█████▎    | 481/900 [1:36:33<11:44:09, 100.83s/it]
 54%|█████▎    | 482/900 [1:36:33<8:12:27, 70.69s/it]  
 54%|█████▎    | 483/900 [1:36:33<5:44:35, 49.58s/it]
 54%|█████▍    | 484/900 [1:36:34<4:01:20, 34.81s/it]
 54%|█████▍    | 485/900 [1:36:34<2:49:13, 24.47s/it]
 54%|█████▍    | 486/900 [1:36:34<1:58:51, 17.22s/it]
 54%|█████▍    | 487/900 [1:36:35<1:23:40, 12.16s/it]
 54%|█████▍    | 488/900 [1:36:35<59:07,  8.61s/it]  
 54%|█████▍    | 489/900 [1:38:53<5:24:49, 47.42s/it]
 54%|█████▍    | 490/900 [1:38:53<3:47:30, 33.29s/it]
 55%|█████▍    | 491/900 [1:38:54<2:39:34, 23.41s/it]
 55%|█████▍    | 492/900 [1:38:54<1:52:07, 16.49s/it]
 55%|█████▍    | 493/900 [1:38:54<1:18:59, 11.65s/it]
 55%|█████▍    | 494/900 [1:38:55<55:51,  8.25s/it]  
 55%|█████▌    | 495/900 [1:38:55<39:41,  5.88s/it]
 55%|█████▌    | 496/900 [1:38:55<28:23,  4.22s/it]
 55%|█████▌    | 497/900 [1:39:31<1:31:03, 13.56s/it]
 55%|█████▌    | 498/900 [1:39:31<1:04:16,  9.59s/it]
 55%|█████▌    | 499/900 [1:39:31<45:32,  6.81s/it]  
 56%|█████▌    | 500/900 [1:39:32<33:20,  5.00s/it]
 56%|█████▌    | 501/900 [1:39:33<23:56,  3.60s/it]
 56%|█████▌    | 502/900 [1:39:33<17:22,  2.62s/it]
 56%|█████▌    | 503/900 [1:39:33<12:48,  1.93s/it]
 56%|█████▌    | 504/900 [1:39:34<09:35,  1.45s/it]
 56%|█████▌    | 505/900 [1:43:05<7:04:55, 64.55s/it]
 56%|█████▌    | 506/900 [1:43:06<4:57:22, 45.29s/it]
 56%|█████▋    | 507/900 [1:43:06<3:28:17, 31.80s/it]
 56%|█████▋    | 508/900 [1:43:06<2:26:06, 22.36s/it]
 57%|█████▋    | 509/900 [1:43:07<1:42:40, 15.76s/it]
 57%|█████▋    | 510/900 [1:43:07<1:12:20, 11.13s/it]
 57%|█████▋    | 511/900 [1:43:07<51:10,  7.89s/it]  
 57%|█████▋    | 512/900 [1:43:08<36:24,  5.63s/it]
 57%|█████▋    | 513/900 [1:45:16<4:32:55, 42.31s/it]
 57%|█████▋    | 514/900 [1:45:16<3:11:12, 29.72s/it]
 57%|█████▋    | 515/900 [1:45:16<2:14:08, 20.91s/it]
 57%|█████▋    | 516/900 [1:45:17<1:34:18, 14.73s/it]
 57%|█████▋    | 517/900 [1:45:17<1:06:28, 10.41s/it]
 58%|█████▊    | 518/900 [1:45:17<47:02,  7.39s/it]  
 58%|█████▊    | 519/900 [1:45:18<33:29,  5.27s/it]
 58%|█████▊    | 520/900 [1:45:18<24:00,  3.79s/it]
 58%|█████▊    | 521/900 [1:46:18<2:10:43, 20.70s/it]
 58%|█████▊    | 522/900 [1:46:18<1:31:55, 14.59s/it]
 58%|█████▊    | 523/900 [1:46:19<1:04:49, 10.32s/it]
 58%|█████▊    | 524/900 [1:46:19<45:52,  7.32s/it]  
 58%|█████▊    | 525/900 [1:46:19<32:38,  5.22s/it]
 58%|█████▊    | 526/900 [1:46:20<23:24,  3.76s/it]
 59%|█████▊    | 527/900 [1:46:20<16:58,  2.73s/it]
 59%|█████▊    | 528/900 [1:46:20<12:28,  2.01s/it]
 59%|█████▉    | 529/900 [1:47:56<3:06:49, 30.21s/it]
 59%|█████▉    | 530/900 [1:47:57<2:11:03, 21.25s/it]
 59%|█████▉    | 531/900 [1:47:57<1:32:07, 14.98s/it]
 59%|█████▉    | 532/900 [1:47:57<1:04:56, 10.59s/it]
 59%|█████▉    | 533/900 [1:47:58<45:57,  7.51s/it]  
 59%|█████▉    | 534/900 [1:47:58<32:41,  5.36s/it]
 59%|█████▉    | 535/900 [1:47:58<23:25,  3.85s/it]
 60%|█████▉    | 536/900 [1:47:59<16:57,  2.80s/it]
 60%|█████▉    | 537/900 [1:49:12<2:25:34, 24.06s/it]
 60%|█████▉    | 538/900 [1:49:13<1:42:14, 16.94s/it]
 60%|█████▉    | 539/900 [1:49:13<1:11:58, 11.96s/it]
 60%|██████    | 540/900 [1:49:13<50:51,  8.48s/it]  
 60%|██████    | 541/900 [1:49:14<36:06,  6.04s/it]
 60%|██████    | 542/900 [1:49:14<25:48,  4.32s/it]
 60%|██████    | 543/900 [1:49:14<18:36,  3.13s/it]
 60%|██████    | 544/900 [1:49:15<13:34,  2.29s/it]
 61%|██████    | 545/900 [1:50:13<1:52:33, 19.02s/it]
 61%|██████    | 546/900 [1:50:13<1:19:07, 13.41s/it]
 61%|██████    | 547/900 [1:50:14<55:46,  9.48s/it]  
 61%|██████    | 548/900 [1:50:14<39:29,  6.73s/it]
 61%|██████    | 549/900 [1:50:14<28:07,  4.81s/it]
 61%|██████    | 550/900 [1:50:14<20:11,  3.46s/it]
 61%|██████    | 551/900 [1:50:15<14:38,  2.52s/it]
 61%|██████▏   | 552/900 [1:50:15<10:46,  1.86s/it]
 61%|██████▏   | 553/900 [1:51:14<1:50:06, 19.04s/it]
 62%|██████▏   | 554/900 [1:51:15<1:17:24, 13.42s/it]
 62%|██████▏   | 555/900 [1:51:15<54:35,  9.49s/it]  
 62%|██████▏   | 556/900 [1:51:15<38:38,  6.74s/it]
 62%|██████▏   | 557/900 [1:51:16<27:32,  4.82s/it]
 62%|██████▏   | 558/900 [1:51:16<19:45,  3.47s/it]
 62%|██████▏   | 559/900 [1:51:16<14:19,  2.52s/it]
 62%|██████▏   | 560/900 [1:51:16<10:32,  1.86s/it]
 62%|██████▏   | 561/900 [1:57:18<10:19:18, 109.61s/it]
 62%|██████▏   | 562/900 [1:57:18<7:12:46, 76.82s/it]  
 63%|██████▎   | 563/900 [1:57:18<5:02:35, 53.87s/it]
 63%|██████▎   | 564/900 [1:57:18<3:31:42, 37.81s/it]
 63%|██████▎   | 565/900 [1:57:19<2:28:17, 26.56s/it]
 63%|██████▎   | 566/900 [1:57:19<1:44:02, 18.69s/it]
 63%|██████▎   | 567/900 [1:57:19<1:13:08, 13.18s/it]
 63%|██████▎   | 568/900 [1:57:20<51:34,  9.32s/it]  
 63%|██████▎   | 569/900 [1:59:44<4:35:29, 49.94s/it]
 63%|██████▎   | 570/900 [1:59:45<3:12:48, 35.06s/it]
 63%|██████▎   | 571/900 [1:59:45<2:15:05, 24.64s/it]
 64%|██████▎   | 572/900 [1:59:45<1:34:48, 17.34s/it]
 64%|██████▎   | 573/900 [1:59:46<1:06:41, 12.24s/it]
 64%|██████▍   | 574/900 [1:59:46<47:04,  8.66s/it]  
 64%|██████▍   | 575/900 [1:59:46<33:22,  6.16s/it]
 64%|██████▍   | 576/900 [1:59:47<23:48,  4.41s/it]
 64%|██████▍   | 577/900 [2:01:29<3:01:17, 33.68s/it]
 64%|██████▍   | 578/900 [2:01:29<2:07:01, 23.67s/it]
 64%|██████▍   | 579/900 [2:01:29<1:29:09, 16.66s/it]
 64%|██████▍   | 580/900 [2:01:30<1:02:43, 11.76s/it]
 65%|██████▍   | 581/900 [2:01:30<44:16,  8.33s/it]  
 65%|██████▍   | 582/900 [2:01:30<31:24,  5.92s/it]
 65%|██████▍   | 583/900 [2:01:31<22:24,  4.24s/it]
 65%|██████▍   | 584/900 [2:01:31<16:08,  3.06s/it]
 65%|██████▌   | 585/900 [2:07:59<10:22:25, 118.56s/it]
 65%|██████▌   | 586/900 [2:07:59<7:14:49, 83.09s/it]  
 65%|██████▌   | 587/900 [2:08:00<5:03:54, 58.26s/it]
 65%|██████▌   | 588/900 [2:08:00<3:32:32, 40.87s/it]
 65%|██████▌   | 589/900 [2:08:00<2:28:48, 28.71s/it]
 66%|██████▌   | 590/900 [2:08:01<1:44:19, 20.19s/it]
 66%|██████▌   | 591/900 [2:08:01<1:13:17, 14.23s/it]
 66%|██████▌   | 592/900 [2:08:01<51:37, 10.06s/it]  
 66%|██████▌   | 593/900 [2:08:53<1:54:56, 22.47s/it]
 66%|██████▌   | 594/900 [2:08:53<1:20:42, 15.83s/it]
 66%|██████▌   | 595/900 [2:08:53<56:48, 11.18s/it]  
 66%|██████▌   | 596/900 [2:08:54<40:07,  7.92s/it]
 66%|██████▋   | 597/900 [2:08:54<28:29,  5.64s/it]
 66%|██████▋   | 598/900 [2:08:54<20:21,  4.04s/it]
 67%|██████▋   | 599/900 [2:08:55<14:41,  2.93s/it]
 67%|██████▋   | 600/900 [2:08:55<10:44,  2.15s/it]
 67%|██████▋   | 601/900 [2:09:37<1:10:59, 14.25s/it]
 67%|██████▋   | 602/900 [2:09:38<50:00, 10.07s/it]  
 67%|██████▋   | 603/900 [2:09:38<35:21,  7.14s/it]
 67%|██████▋   | 604/900 [2:09:38<25:08,  5.10s/it]
 67%|██████▋   | 605/900 [2:09:39<18:00,  3.66s/it]
 67%|██████▋   | 606/900 [2:09:39<13:01,  2.66s/it]
 67%|██████▋   | 607/900 [2:09:39<09:33,  1.96s/it]
 68%|██████▊   | 608/900 [2:09:40<07:08,  1.47s/it]
 68%|██████▊   | 609/900 [2:10:54<1:53:51, 23.48s/it]
 68%|██████▊   | 610/900 [2:10:55<1:19:53, 16.53s/it]
 68%|██████▊   | 611/900 [2:10:55<56:11, 11.67s/it]  
 68%|██████▊   | 612/900 [2:10:55<39:39,  8.26s/it]
 68%|██████▊   | 613/900 [2:10:56<28:06,  5.88s/it]
 68%|██████▊   | 614/900 [2:10:56<20:04,  4.21s/it]
 68%|██████▊   | 615/900 [2:10:56<14:27,  3.04s/it]
 68%|██████▊   | 616/900 [2:10:57<10:32,  2.23s/it]
 69%|██████▊   | 617/900 [2:11:42<1:11:30, 15.16s/it]
 69%|██████▊   | 618/900 [2:11:42<50:19, 10.71s/it]  
 69%|██████▉   | 619/900 [2:11:43<35:33,  7.59s/it]
 69%|██████▉   | 620/900 [2:11:43<25:15,  5.41s/it]
 69%|██████▉   | 621/900 [2:11:43<18:04,  3.89s/it]
 69%|██████▉   | 622/900 [2:11:44<13:03,  2.82s/it]
 69%|██████▉   | 623/900 [2:11:44<09:33,  2.07s/it]
 69%|██████▉   | 624/900 [2:11:44<07:06,  1.55s/it]
 69%|██████▉   | 625/900 [2:12:49<1:34:13, 20.56s/it]
 70%|██████▉   | 626/900 [2:12:50<1:06:09, 14.49s/it]
 70%|██████▉   | 627/900 [2:12:50<46:35, 10.24s/it]  
 70%|██████▉   | 628/900 [2:12:50<32:55,  7.26s/it]
 70%|██████▉   | 629/900 [2:12:50<23:23,  5.18s/it]
 70%|███████   | 630/900 [2:12:51<16:44,  3.72s/it]
 70%|███████   | 631/900 [2:12:51<12:06,  2.70s/it]
 70%|███████   | 632/900 [2:12:51<08:51,  1.98s/it]
 70%|███████   | 633/900 [2:14:01<1:39:29, 22.36s/it]
 70%|███████   | 634/900 [2:14:02<1:09:47, 15.74s/it]
 71%|███████   | 635/900 [2:14:02<49:05, 11.12s/it]  
 71%|███████   | 636/900 [2:14:02<34:39,  7.88s/it]
 71%|███████   | 637/900 [2:14:03<24:35,  5.61s/it]
 71%|███████   | 638/900 [2:14:03<17:33,  4.02s/it]
 71%|███████   | 639/900 [2:14:03<12:39,  2.91s/it]
 71%|███████   | 640/900 [2:14:04<09:14,  2.13s/it]
 71%|███████   | 641/900 [2:14:44<58:16, 13.50s/it]
 71%|███████▏  | 642/900 [2:14:44<41:02,  9.55s/it]
 71%|███████▏  | 643/900 [2:14:44<29:01,  6.78s/it]
 72%|███████▏  | 644/900 [2:14:45<20:39,  4.84s/it]
 72%|███████▏  | 645/900 [2:14:45<14:48,  3.49s/it]
 72%|███████▏  | 646/900 [2:14:45<10:43,  2.53s/it]
 72%|███████▏  | 647/900 [2:14:45<07:52,  1.87s/it]
 72%|███████▏  | 648/900 [2:14:46<05:53,  1.40s/it]
 72%|███████▏  | 649/900 [2:18:14<4:24:53, 63.32s/it]
 72%|███████▏  | 650/900 [2:18:14<3:05:05, 44.42s/it]
 72%|███████▏  | 651/900 [2:18:14<2:09:27, 31.19s/it]
 72%|███████▏  | 652/900 [2:18:15<1:30:39, 21.93s/it]
 73%|███████▎  | 653/900 [2:18:15<1:03:35, 15.45s/it]
 73%|███████▎  | 654/900 [2:18:15<44:44, 10.91s/it]  
 73%|███████▎  | 655/900 [2:18:16<31:34,  7.73s/it]
 73%|███████▎  | 656/900 [2:18:16<22:25,  5.52s/it]
 73%|███████▎  | 657/900 [2:19:08<1:18:40, 19.42s/it]
 73%|███████▎  | 658/900 [2:19:08<55:13, 13.69s/it]  
 73%|███████▎  | 659/900 [2:19:08<38:53,  9.68s/it]
 73%|███████▎  | 660/900 [2:19:09<27:29,  6.87s/it]
 73%|███████▎  | 661/900 [2:19:09<19:32,  4.91s/it]
 74%|███████▎  | 662/900 [2:19:09<14:00,  3.53s/it]
 74%|███████▎  | 663/900 [2:19:10<10:08,  2.57s/it]
 74%|███████▍  | 664/900 [2:19:10<07:26,  1.89s/it]
 74%|███████▍  | 665/900 [2:21:58<3:23:10, 51.88s/it]
 74%|███████▍  | 666/900 [2:21:59<2:21:59, 36.41s/it]
 74%|███████▍  | 667/900 [2:21:59<1:39:20, 25.58s/it]
 74%|███████▍  | 668/900 [2:21:59<1:09:36, 18.00s/it]
 74%|███████▍  | 669/900 [2:22:00<48:53, 12.70s/it]  
 74%|███████▍  | 670/900 [2:22:00<34:26,  8.98s/it]
 75%|███████▍  | 671/900 [2:22:00<24:21,  6.38s/it]
 75%|███████▍  | 672/900 [2:22:01<17:20,  4.56s/it]
 75%|███████▍  | 673/900 [2:25:25<4:04:18, 64.58s/it]
 75%|███████▍  | 674/900 [2:25:26<2:50:37, 45.30s/it]
 75%|███████▌  | 675/900 [2:25:26<1:59:16, 31.81s/it]
 75%|███████▌  | 676/900 [2:25:26<1:23:28, 22.36s/it]
 75%|███████▌  | 677/900 [2:25:27<58:31, 15.75s/it]  
 75%|███████▌  | 678/900 [2:25:27<41:08, 11.12s/it]
 75%|███████▌  | 679/900 [2:25:27<29:01,  7.88s/it]
 76%|███████▌  | 680/900 [2:25:28<20:34,  5.61s/it]
 76%|███████▌  | 681/900 [2:30:28<5:43:50, 94.20s/it]
 76%|███████▌  | 682/900 [2:30:29<3:59:56, 66.04s/it]
 76%|███████▌  | 683/900 [2:30:29<2:47:31, 46.32s/it]
 76%|███████▌  | 684/900 [2:30:29<1:57:04, 32.52s/it]
 76%|███████▌  | 685/900 [2:30:30<1:21:55, 22.86s/it]
 76%|███████▌  | 686/900 [2:30:30<57:25, 16.10s/it]  
 76%|███████▋  | 687/900 [2:30:30<40:20, 11.37s/it]
 76%|███████▋  | 688/900 [2:30:31<28:27,  8.05s/it]
 77%|███████▋  | 689/900 [2:31:33<1:25:23, 24.28s/it]
 77%|███████▋  | 690/900 [2:31:33<59:49, 17.09s/it]  
 77%|███████▋  | 691/900 [2:31:34<42:01, 12.06s/it]
 77%|███████▋  | 692/900 [2:31:34<29:36,  8.54s/it]
 77%|███████▋  | 693/900 [2:31:34<20:57,  6.08s/it]
 77%|███████▋  | 694/900 [2:31:34<14:56,  4.35s/it]
 77%|███████▋  | 695/900 [2:31:35<10:44,  3.14s/it]
 77%|███████▋  | 696/900 [2:31:35<07:48,  2.30s/it]
 77%|███████▋  | 697/900 [2:37:15<5:50:34, 103.62s/it]
 78%|███████▊  | 698/900 [2:37:15<4:04:30, 72.63s/it] 
 78%|███████▊  | 699/900 [2:37:16<2:50:38, 50.94s/it]
 78%|███████▊  | 700/900 [2:37:16<1:59:11, 35.76s/it]
 78%|███████▊  | 701/900 [2:37:16<1:23:21, 25.13s/it]
 78%|███████▊  | 702/900 [2:37:17<58:23, 17.70s/it]  
 78%|███████▊  | 703/900 [2:37:17<41:00, 12.49s/it]
 78%|███████▊  | 704/900 [2:37:18<28:53,  8.84s/it]
 78%|███████▊  | 705/900 [2:40:13<3:11:25, 58.90s/it]
 78%|███████▊  | 706/900 [2:40:14<2:13:37, 41.33s/it]
 79%|███████▊  | 707/900 [2:40:14<1:33:21, 29.03s/it]
 79%|███████▊  | 708/900 [2:40:14<1:05:19, 20.41s/it]
 79%|███████▉  | 709/900 [2:40:15<45:48, 14.39s/it]  
 79%|███████▉  | 710/900 [2:40:15<32:14, 10.18s/it]
 79%|███████▉  | 711/900 [2:40:15<22:46,  7.23s/it]
 79%|███████▉  | 712/900 [2:40:16<16:11,  5.17s/it]
 79%|███████▉  | 713/900 [2:53:02<12:08:15, 233.66s/it]
 79%|███████▉  | 714/900 [2:53:03<8:27:21, 163.66s/it] 
 79%|███████▉  | 715/900 [2:53:03<5:53:32, 114.66s/it]
 80%|███████▉  | 716/900 [2:53:03<4:06:25, 80.36s/it] 
 80%|███████▉  | 717/900 [2:53:04<2:51:51, 56.35s/it]
 80%|███████▉  | 718/900 [2:53:04<1:59:56, 39.54s/it]
 80%|███████▉  | 719/900 [2:53:04<1:23:47, 27.77s/it]
 80%|████████  | 720/900 [2:53:05<58:36, 19.54s/it]  
 80%|████████  | 721/900 [3:04:16<10:41:14, 214.94s/it]
 80%|████████  | 722/900 [3:04:16<7:26:38, 150.56s/it] 
 80%|████████  | 723/900 [3:04:16<5:11:10, 105.49s/it]
 80%|████████  | 724/900 [3:04:16<3:36:52, 73.94s/it] 
 81%|████████  | 725/900 [3:04:17<2:31:14, 51.85s/it]
 81%|████████  | 726/900 [3:04:17<1:45:32, 36.39s/it]
 81%|████████  | 727/900 [3:04:17<1:13:44, 25.57s/it]
 81%|████████  | 728/900 [3:04:18<51:35, 18.00s/it]  
 81%|████████  | 729/900 [3:06:37<2:34:56, 54.37s/it]
 81%|████████  | 730/900 [3:06:37<1:48:06, 38.15s/it]
 81%|████████  | 731/900 [3:06:38<1:15:29, 26.80s/it]
 81%|████████▏ | 732/900 [3:06:38<52:48, 18.86s/it]  
 81%|████████▏ | 733/900 [3:06:38<37:00, 13.30s/it]
 82%|████████▏ | 734/900 [3:06:39<26:01,  9.40s/it]
 82%|████████▏ | 735/900 [3:06:39<18:22,  6.68s/it]
 82%|████████▏ | 736/900 [3:06:39<13:02,  4.77s/it]
 82%|████████▏ | 737/900 [3:08:05<1:18:37, 28.94s/it]
 82%|████████▏ | 738/900 [3:08:05<54:57, 20.36s/it]  
 82%|████████▏ | 739/900 [3:08:05<38:29, 14.34s/it]
 82%|████████▏ | 740/900 [3:08:06<27:01, 10.14s/it]
 82%|████████▏ | 741/900 [3:08:06<19:03,  7.19s/it]
 82%|████████▏ | 742/900 [3:08:06<13:30,  5.13s/it]
 83%|████████▎ | 743/900 [3:08:07<09:38,  3.69s/it]
 83%|████████▎ | 744/900 [3:08:07<06:57,  2.68s/it]
 83%|████████▎ | 745/900 [3:10:19<1:47:23, 41.57s/it]
 83%|████████▎ | 746/900 [3:10:19<1:14:56, 29.20s/it]
 83%|████████▎ | 747/900 [3:10:20<52:21, 20.53s/it]  
 83%|████████▎ | 748/900 [3:10:20<36:39, 14.47s/it]
 83%|████████▎ | 749/900 [3:10:20<25:43, 10.22s/it]
 83%|████████▎ | 750/900 [3:10:21<18:07,  7.25s/it]
 83%|████████▎ | 751/900 [3:10:21<12:50,  5.17s/it]
 84%|████████▎ | 752/900 [3:10:21<09:10,  3.72s/it]
 84%|████████▎ | 753/900 [3:12:34<1:43:28, 42.23s/it]
 84%|████████▍ | 754/900 [3:12:34<1:12:10, 29.66s/it]
 84%|████████▍ | 755/900 [3:12:34<50:24, 20.86s/it]  
 84%|████████▍ | 756/900 [3:12:34<35:16, 14.70s/it]
 84%|████████▍ | 757/900 [3:12:35<24:44, 10.38s/it]
 84%|████████▍ | 758/900 [3:12:35<17:25,  7.36s/it]
 84%|████████▍ | 759/900 [3:12:35<12:20,  5.25s/it]
 84%|████████▍ | 760/900 [3:12:36<08:47,  3.77s/it]
 85%|████████▍ | 761/900 [3:16:59<3:08:48, 81.50s/it]
 85%|████████▍ | 762/900 [3:16:59<2:11:26, 57.15s/it]
 85%|████████▍ | 763/900 [3:16:59<1:31:33, 40.10s/it]
 85%|████████▍ | 764/900 [3:17:00<1:03:50, 28.17s/it]
 85%|████████▌ | 765/900 [3:17:00<44:34, 19.81s/it]  
 85%|████████▌ | 766/900 [3:17:00<31:11, 13.96s/it]
 85%|████████▌ | 767/900 [3:17:01<21:52,  9.87s/it]
 85%|████████▌ | 768/900 [3:17:01<15:25,  7.01s/it]
 85%|████████▌ | 769/900 [3:20:18<2:19:51, 64.06s/it]
 86%|████████▌ | 770/900 [3:20:18<1:37:21, 44.94s/it]
 86%|████████▌ | 771/900 [3:20:19<1:07:50, 31.55s/it]
 86%|████████▌ | 772/900 [3:20:19<47:19, 22.18s/it]  
 86%|████████▌ | 773/900 [3:20:19<33:04, 15.62s/it]
 86%|████████▌ | 774/900 [3:20:20<23:09, 11.03s/it]
 86%|████████▌ | 775/900 [3:20:20<16:17,  7.82s/it]
 86%|████████▌ | 776/900 [3:20:20<11:30,  5.57s/it]
 86%|████████▋ | 777/900 [3:22:56<1:43:56, 50.71s/it]
 86%|████████▋ | 778/900 [3:22:57<1:12:22, 35.59s/it]
 87%|████████▋ | 779/900 [3:22:57<50:26, 25.01s/it]  
 87%|████████▋ | 780/900 [3:22:57<35:12, 17.61s/it]
 87%|████████▋ | 781/900 [3:22:58<24:39, 12.43s/it]
 87%|████████▋ | 782/900 [3:22:58<17:18,  8.80s/it]
 87%|████████▋ | 783/900 [3:22:58<12:12,  6.26s/it]
 87%|████████▋ | 784/900 [3:22:59<08:39,  4.48s/it]
 87%|████████▋ | 785/900 [3:24:14<49:35, 25.87s/it]
 87%|████████▋ | 786/900 [3:24:15<34:35, 18.21s/it]
 87%|████████▋ | 787/900 [3:24:15<24:11, 12.84s/it]
 88%|████████▊ | 788/900 [3:24:15<16:57,  9.09s/it]
 88%|████████▊ | 789/900 [3:24:16<11:56,  6.46s/it]
 88%|████████▊ | 790/900 [3:24:16<08:27,  4.62s/it]
 88%|████████▊ | 791/900 [3:24:16<06:02,  3.33s/it]
 88%|████████▊ | 792/900 [3:24:17<04:21,  2.43s/it]
 88%|████████▊ | 793/900 [3:31:01<3:39:17, 122.97s/it]
 88%|████████▊ | 794/900 [3:31:01<2:32:14, 86.17s/it] 
 88%|████████▊ | 795/900 [3:31:02<1:45:43, 60.42s/it]
 88%|████████▊ | 796/900 [3:31:02<1:13:28, 42.39s/it]
 89%|████████▊ | 797/900 [3:31:02<51:06, 29.77s/it]  
 89%|████████▊ | 798/900 [3:31:03<35:35, 20.93s/it]
 89%|████████▉ | 799/900 [3:31:03<24:49, 14.75s/it]
 89%|████████▉ | 800/900 [3:31:03<17:22, 10.42s/it]
 89%|████████▉ | 801/900 [3:31:51<35:50, 21.73s/it]
 89%|████████▉ | 802/900 [3:31:52<25:00, 15.31s/it]
 89%|████████▉ | 803/900 [3:31:52<17:28, 10.81s/it]
 89%|████████▉ | 804/900 [3:31:52<12:16,  7.67s/it]
 89%|████████▉ | 805/900 [3:31:53<08:39,  5.47s/it]
 90%|████████▉ | 806/900 [3:31:53<06:08,  3.92s/it]
 90%|████████▉ | 807/900 [3:31:53<04:24,  2.84s/it]
 90%|████████▉ | 808/900 [3:31:54<03:11,  2.09s/it]
 90%|████████▉ | 809/900 [3:32:49<27:31, 18.14s/it]
 90%|█████████ | 810/900 [3:32:49<19:11, 12.80s/it]
 90%|█████████ | 811/900 [3:32:50<13:26,  9.06s/it]
 90%|█████████ | 812/900 [3:32:50<09:26,  6.44s/it]
 90%|█████████ | 813/900 [3:32:50<06:40,  4.60s/it]
 90%|█████████ | 814/900 [3:32:51<04:45,  3.32s/it]
 91%|█████████ | 815/900 [3:32:51<03:26,  2.42s/it]
 91%|█████████ | 816/900 [3:32:51<02:30,  1.79s/it]
 91%|█████████ | 817/900 [3:35:54<1:17:41, 56.16s/it]
 91%|█████████ | 818/900 [3:35:55<53:51, 39.41s/it]  
 91%|█████████ | 819/900 [3:35:55<37:22, 27.68s/it]
 91%|█████████ | 820/900 [3:35:55<25:57, 19.47s/it]
 91%|█████████ | 821/900 [3:35:56<18:04, 13.73s/it]
 91%|█████████▏| 822/900 [3:35:56<12:37,  9.71s/it]
 91%|█████████▏| 823/900 [3:35:56<08:50,  6.89s/it]
 92%|█████████▏| 824/900 [3:35:57<06:14,  4.92s/it]
 92%|█████████▏| 825/900 [3:35:58<04:37,  3.69s/it]
 92%|█████████▏| 826/900 [3:35:58<03:18,  2.68s/it]
 92%|█████████▏| 827/900 [3:35:58<02:24,  1.97s/it]
 92%|█████████▏| 828/900 [3:35:58<01:46,  1.48s/it]
 92%|█████████▏| 829/900 [3:35:59<01:20,  1.13s/it]
 92%|█████████▏| 830/900 [3:35:59<01:02,  1.13it/s]
 92%|█████████▏| 831/900 [3:35:59<00:49,  1.39it/s]
 92%|█████████▏| 832/900 [3:36:00<00:40,  1.68it/s]
 93%|█████████▎| 833/900 [3:36:01<00:45,  1.48it/s]
 93%|█████████▎| 834/900 [3:36:01<00:37,  1.75it/s]
 93%|█████████▎| 835/900 [3:36:01<00:32,  2.01it/s]
 93%|█████████▎| 836/900 [3:36:02<00:28,  2.26it/s]
 93%|█████████▎| 837/900 [3:36:02<00:25,  2.46it/s]
 93%|█████████▎| 838/900 [3:36:02<00:23,  2.64it/s]
 93%|█████████▎| 839/900 [3:36:03<00:22,  2.77it/s]
 93%|█████████▎| 840/900 [3:36:03<00:20,  2.89it/s]
 93%|█████████▎| 841/900 [3:36:04<00:28,  2.05it/s]
 94%|█████████▎| 842/900 [3:36:04<00:25,  2.28it/s]
 94%|█████████▎| 843/900 [3:36:04<00:22,  2.49it/s]
 94%|█████████▍| 844/900 [3:36:05<00:21,  2.64it/s]
 94%|█████████▍| 845/900 [3:36:05<00:19,  2.77it/s]
 94%|█████████▍| 846/900 [3:36:05<00:18,  2.87it/s]
 94%|█████████▍| 847/900 [3:36:06<00:18,  2.94it/s]
 94%|█████████▍| 848/900 [3:36:06<00:17,  3.00it/s]
 94%|█████████▍| 849/900 [3:36:07<00:24,  2.04it/s]
 94%|█████████▍| 850/900 [3:36:07<00:21,  2.28it/s]
 95%|█████████▍| 851/900 [3:36:07<00:19,  2.49it/s]
 95%|█████████▍| 852/900 [3:36:08<00:18,  2.65it/s]
 95%|█████████▍| 853/900 [3:36:08<00:16,  2.78it/s]
 95%|█████████▍| 854/900 [3:36:08<00:16,  2.87it/s]
 95%|█████████▌| 855/900 [3:36:09<00:15,  2.95it/s]
 95%|█████████▌| 856/900 [3:36:09<00:14,  3.01it/s]
 95%|█████████▌| 857/900 [3:38:16<27:25, 38.27s/it]
 95%|█████████▌| 858/900 [3:38:16<18:49, 26.89s/it]
 95%|█████████▌| 859/900 [3:38:16<12:55, 18.91s/it]
 96%|█████████▌| 860/900 [3:38:17<08:53, 13.34s/it]
 96%|█████████▌| 861/900 [3:38:17<06:07,  9.43s/it]
 96%|█████████▌| 862/900 [3:38:17<04:14,  6.70s/it]
 96%|█████████▌| 863/900 [3:38:18<02:56,  4.78s/it]
 96%|█████████▌| 864/900 [3:38:18<02:03,  3.44s/it]
 96%|█████████▌| 865/900 [3:38:19<01:32,  2.65s/it]
 96%|█████████▌| 866/900 [3:38:19<01:06,  1.95s/it]
 96%|█████████▋| 867/900 [3:38:19<00:48,  1.46s/it]
 96%|█████████▋| 868/900 [3:38:20<00:35,  1.12s/it]
 97%|█████████▋| 869/900 [3:38:20<00:27,  1.14it/s]
 97%|█████████▋| 870/900 [3:38:20<00:21,  1.41it/s]
 97%|█████████▋| 871/900 [3:38:21<00:17,  1.69it/s]
 97%|█████████▋| 872/900 [3:38:21<00:14,  1.96it/s]
 97%|█████████▋| 873/900 [3:38:22<00:16,  1.67it/s]
 97%|█████████▋| 874/900 [3:38:22<00:13,  1.94it/s]
 97%|█████████▋| 875/900 [3:38:22<00:11,  2.20it/s]
 97%|█████████▋| 876/900 [3:38:23<00:09,  2.42it/s]
 97%|█████████▋| 877/900 [3:38:23<00:08,  2.60it/s]
 98%|█████████▊| 878/900 [3:38:23<00:08,  2.74it/s]
 98%|█████████▊| 879/900 [3:38:24<00:07,  2.85it/s]
 98%|█████████▊| 880/900 [3:38:24<00:06,  2.93it/s]
 98%|█████████▊| 881/900 [3:38:25<00:09,  1.99it/s]
 98%|█████████▊| 882/900 [3:38:25<00:08,  2.23it/s]
 98%|█████████▊| 883/900 [3:38:26<00:06,  2.45it/s]
 98%|█████████▊| 884/900 [3:38:26<00:06,  2.62it/s]
 98%|█████████▊| 885/900 [3:38:26<00:05,  2.76it/s]
 98%|█████████▊| 886/900 [3:38:27<00:04,  2.86it/s]
 99%|█████████▊| 887/900 [3:38:27<00:04,  2.94it/s]
 99%|█████████▊| 888/900 [3:38:27<00:03,  3.01it/s]
 99%|█████████▉| 889/900 [3:38:28<00:05,  2.13it/s]
 99%|█████████▉| 890/900 [3:38:28<00:04,  2.36it/s]
 99%|█████████▉| 891/900 [3:38:29<00:03,  2.57it/s]
 99%|█████████▉| 892/900 [3:38:29<00:02,  2.72it/s]
 99%|█████████▉| 893/900 [3:38:29<00:02,  2.84it/s]
 99%|█████████▉| 894/900 [3:38:30<00:02,  2.93it/s]
 99%|█████████▉| 895/900 [3:38:30<00:01,  3.01it/s]
100%|█████████▉| 896/900 [3:38:30<00:01,  3.05it/s]
100%|█████████▉| 897/900 [3:38:31<00:01,  1.81it/s]
100%|█████████▉| 898/900 [3:38:32<00:00,  2.07it/s]
100%|█████████▉| 899/900 [3:38:32<00:00,  2.29it/s]
100%|█████████▉| 899/900 [3:38:32<00:14, 14.59s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json.
+ReorientWhiteMugsTask_1 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_1, run: 1, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.520202079952039, 'joint_sparc_mean': -13.33871322016625, 'ee_isj': 81385.58928130238, 'joint_isj': 2347899.3780024196, 'ee_path_length': 12.544082196052571, 'joint_rmse_mean': 1.4834066440755878, 'ee_speed_max': 3.7191274166107178, 'ee_speed_mean': 0.19844211637973785}, events: {'OBJECT_BUMPED': 7, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 8, 'WRONG_OBJECT_GRABBED': 6, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'upright_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 12843.671, 'policy_inference_avg_ms': 14270.7, 'env_step_s': 261.667, 'env_step_avg_ms': 290.7, 'video_write_s': 6.912, 'video_write_avg_ms': 7.7, 'wall_total_s': 13112.25, 'it_per_sec': 0.07}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 7b458cc8742f442689eedb918f080937-1
+[RoboLab] Running ReorientWhiteMugsTask_2: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:06<16:29:56, 66.07s/it]
  0%|          | 2/900 [01:06<6:50:10, 27.41s/it] 
  0%|          | 3/900 [01:06<3:44:46, 15.04s/it]
  0%|          | 4/900 [01:07<2:17:44,  9.22s/it]
  1%|          | 5/900 [01:07<1:29:39,  6.01s/it]
  1%|          | 6/900 [01:07<1:00:41,  4.07s/it]
  1%|          | 7/900 [01:07<42:20,  2.84s/it]  
  1%|          | 8/900 [01:08<30:20,  2.04s/it]
  1%|          | 9/900 [01:18<1:09:17,  4.67s/it]
  1%|          | 10/900 [01:19<49:22,  3.33s/it] 
  1%|          | 11/900 [01:19<35:43,  2.41s/it]
  1%|▏         | 12/900 [01:19<26:17,  1.78s/it]
  1%|▏         | 13/900 [01:20<19:43,  1.33s/it]
  2%|▏         | 14/900 [01:20<15:09,  1.03s/it]
  2%|▏         | 15/900 [01:20<11:59,  1.23it/s]
  2%|▏         | 16/900 [01:20<09:46,  1.51it/s]
  2%|▏         | 17/900 [01:48<2:07:24,  8.66s/it]
  2%|▏         | 18/900 [01:48<1:30:27,  6.15s/it]
  2%|▏         | 19/900 [01:48<1:04:36,  4.40s/it]
  2%|▏         | 20/900 [01:49<46:33,  3.17s/it]  
  2%|▏         | 21/900 [01:49<33:56,  2.32s/it]
  2%|▏         | 22/900 [01:49<25:06,  1.72s/it]
  3%|▎         | 23/900 [01:50<18:56,  1.30s/it]
  3%|▎         | 24/900 [01:50<14:38,  1.00s/it]
  3%|▎         | 25/900 [02:09<1:31:21,  6.27s/it]
  3%|▎         | 26/900 [02:09<1:05:16,  4.48s/it]
  3%|▎         | 27/900 [02:09<47:00,  3.23s/it]  
  3%|▎         | 28/900 [02:09<34:14,  2.36s/it]
  3%|▎         | 29/900 [02:10<25:18,  1.74s/it]
  3%|▎         | 30/900 [02:10<19:04,  1.32s/it]
  3%|▎         | 31/900 [02:10<14:42,  1.02s/it]
  4%|▎         | 32/900 [02:11<11:38,  1.24it/s]
  4%|▎         | 33/900 [02:42<2:22:54,  9.89s/it]
  4%|▍         | 34/900 [02:42<1:41:17,  7.02s/it]
  4%|▍         | 35/900 [02:42<1:12:11,  5.01s/it]
  4%|▍         | 36/900 [02:43<51:55,  3.61s/it]  
  4%|▍         | 37/900 [02:43<37:44,  2.62s/it]
  4%|▍         | 38/900 [02:43<27:51,  1.94s/it]
  4%|▍         | 39/900 [02:44<20:56,  1.46s/it]
  4%|▍         | 40/900 [02:44<16:06,  1.12s/it]
  5%|▍         | 41/900 [03:43<4:26:12, 18.59s/it]
  5%|▍         | 42/900 [03:44<3:07:37, 13.12s/it]
  5%|▍         | 43/900 [03:44<2:12:35,  9.28s/it]
  5%|▍         | 44/900 [03:44<1:34:07,  6.60s/it]
  5%|▌         | 45/900 [03:45<1:07:13,  4.72s/it]
  5%|▌         | 46/900 [03:45<48:23,  3.40s/it]  
  5%|▌         | 47/900 [03:45<35:16,  2.48s/it]
  5%|▌         | 48/900 [03:46<26:04,  1.84s/it]
  5%|▌         | 49/900 [04:07<1:50:07,  7.76s/it]
  6%|▌         | 50/900 [04:08<1:18:27,  5.54s/it]
  6%|▌         | 51/900 [04:08<56:18,  3.98s/it]  
  6%|▌         | 52/900 [04:08<40:48,  2.89s/it]
  6%|▌         | 53/900 [04:09<29:57,  2.12s/it]
  6%|▌         | 54/900 [04:09<22:21,  1.59s/it]
  6%|▌         | 55/900 [04:09<17:03,  1.21s/it]
  6%|▌         | 56/900 [04:10<13:20,  1.05it/s]
  6%|▋         | 57/900 [05:11<4:28:28, 19.11s/it]
  6%|▋         | 58/900 [05:12<3:09:14, 13.48s/it]
  7%|▋         | 59/900 [05:12<2:13:44,  9.54s/it]
  7%|▋         | 60/900 [05:12<1:35:00,  6.79s/it]
  7%|▋         | 61/900 [05:13<1:07:52,  4.85s/it]
  7%|▋         | 62/900 [05:13<48:53,  3.50s/it]  
  7%|▋         | 63/900 [05:13<35:41,  2.56s/it]
  7%|▋         | 64/900 [05:14<26:23,  1.89s/it]
  7%|▋         | 65/900 [06:03<3:46:08, 16.25s/it]
  7%|▋         | 66/900 [06:04<2:39:32, 11.48s/it]
  7%|▋         | 67/900 [06:04<1:52:55,  8.13s/it]
  8%|▊         | 68/900 [06:04<1:20:21,  5.79s/it]
  8%|▊         | 69/900 [06:05<57:34,  4.16s/it]  
  8%|▊         | 70/900 [06:05<41:39,  3.01s/it]
  8%|▊         | 71/900 [06:05<30:31,  2.21s/it]
  8%|▊         | 72/900 [06:06<22:44,  1.65s/it]
  8%|▊         | 73/900 [07:03<4:10:46, 18.19s/it]
  8%|▊         | 74/900 [07:03<2:56:43, 12.84s/it]
  8%|▊         | 75/900 [07:03<2:04:58,  9.09s/it]
  8%|▊         | 76/900 [07:04<1:28:45,  6.46s/it]
  9%|▊         | 77/900 [07:04<1:03:25,  4.62s/it]
  9%|▊         | 78/900 [07:04<45:37,  3.33s/it]  
  9%|▉         | 79/900 [07:05<33:10,  2.42s/it]
  9%|▉         | 80/900 [07:05<24:27,  1.79s/it]
  9%|▉         | 81/900 [07:28<1:50:57,  8.13s/it]
  9%|▉         | 82/900 [07:28<1:18:50,  5.78s/it]
  9%|▉         | 83/900 [07:28<56:24,  4.14s/it]  
  9%|▉         | 84/900 [07:29<40:42,  2.99s/it]
  9%|▉         | 85/900 [07:29<29:43,  2.19s/it]
 10%|▉         | 86/900 [07:29<22:03,  1.63s/it]
 10%|▉         | 87/900 [07:30<16:42,  1.23s/it]
 10%|▉         | 88/900 [07:30<12:57,  1.04it/s]
 10%|▉         | 89/900 [07:50<1:29:39,  6.63s/it]
 10%|█         | 90/900 [07:50<1:03:57,  4.74s/it]
 10%|█         | 91/900 [07:51<45:59,  3.41s/it]  
 10%|█         | 92/900 [07:51<33:26,  2.48s/it]
 10%|█         | 93/900 [07:51<24:38,  1.83s/it]
 10%|█         | 94/900 [07:51<18:29,  1.38s/it]
 11%|█         | 95/900 [07:52<14:11,  1.06s/it]
 11%|█         | 96/900 [07:52<11:12,  1.20it/s]
 11%|█         | 97/900 [08:11<1:22:04,  6.13s/it]
 11%|█         | 98/900 [08:11<58:40,  4.39s/it]  
 11%|█         | 99/900 [08:11<42:18,  3.17s/it]
 11%|█         | 100/900 [08:12<30:49,  2.31s/it]
 11%|█         | 101/900 [08:12<22:48,  1.71s/it]
 11%|█▏        | 102/900 [08:12<17:12,  1.29s/it]
 11%|█▏        | 103/900 [08:12<13:16,  1.00it/s]
 12%|█▏        | 104/900 [08:13<10:32,  1.26it/s]
 12%|█▏        | 105/900 [08:33<1:26:41,  6.54s/it]
 12%|█▏        | 106/900 [08:33<1:01:51,  4.67s/it]
 12%|█▏        | 107/900 [08:33<44:29,  3.37s/it]  
 12%|█▏        | 108/900 [08:34<32:22,  2.45s/it]
 12%|█▏        | 109/900 [08:34<23:53,  1.81s/it]
 12%|█▏        | 110/900 [08:34<17:57,  1.36s/it]
 12%|█▏        | 111/900 [08:35<13:48,  1.05s/it]
 12%|█▏        | 112/900 [08:35<10:53,  1.21it/s]
 13%|█▎        | 113/900 [09:02<1:52:13,  8.56s/it]
 13%|█▎        | 114/900 [09:02<1:19:45,  6.09s/it]
 13%|█▎        | 115/900 [09:02<57:04,  4.36s/it]  
 13%|█▎        | 116/900 [09:03<41:12,  3.15s/it]
 13%|█▎        | 117/900 [09:03<30:06,  2.31s/it]
 13%|█▎        | 118/900 [09:03<22:21,  1.72s/it]
 13%|█▎        | 119/900 [09:04<16:55,  1.30s/it]
 13%|█▎        | 120/900 [09:04<13:06,  1.01s/it]
 13%|█▎        | 121/900 [09:21<1:14:21,  5.73s/it]
 14%|█▎        | 122/900 [09:21<53:16,  4.11s/it]  
 14%|█▎        | 123/900 [09:21<38:31,  2.97s/it]
 14%|█▍        | 124/900 [09:22<28:12,  2.18s/it]
 14%|█▍        | 125/900 [09:22<21:00,  1.63s/it]
 14%|█▍        | 126/900 [09:22<15:56,  1.24s/it]
 14%|█▍        | 127/900 [09:23<12:22,  1.04it/s]
 14%|█▍        | 128/900 [09:23<09:52,  1.30it/s]
 14%|█▍        | 129/900 [10:17<3:35:23, 16.76s/it]
 14%|█▍        | 130/900 [10:17<2:31:49, 11.83s/it]
 15%|█▍        | 131/900 [10:18<1:47:21,  8.38s/it]
 15%|█▍        | 132/900 [10:18<1:16:16,  5.96s/it]
 15%|█▍        | 133/900 [10:18<54:32,  4.27s/it]  
 15%|█▍        | 134/900 [10:19<39:22,  3.08s/it]
 15%|█▌        | 135/900 [10:19<28:42,  2.25s/it]
 15%|█▌        | 136/900 [10:19<21:18,  1.67s/it]
 15%|█▌        | 137/900 [11:23<4:19:40, 20.42s/it]
 15%|█▌        | 138/900 [11:24<3:02:45, 14.39s/it]
 15%|█▌        | 139/900 [11:24<2:08:57, 10.17s/it]
 16%|█▌        | 140/900 [11:24<1:31:20,  7.21s/it]
 16%|█▌        | 141/900 [11:25<1:05:03,  5.14s/it]
 16%|█▌        | 142/900 [11:25<46:41,  3.70s/it]  
 16%|█▌        | 143/900 [11:25<33:49,  2.68s/it]
 16%|█▌        | 144/900 [11:26<24:49,  1.97s/it]
 16%|█▌        | 145/900 [12:32<4:27:57, 21.29s/it]
 16%|█▌        | 146/900 [12:32<3:08:30, 15.00s/it]
 16%|█▋        | 147/900 [12:33<2:12:57, 10.59s/it]
 16%|█▋        | 148/900 [12:33<1:34:07,  7.51s/it]
 17%|█▋        | 149/900 [12:33<1:06:58,  5.35s/it]
 17%|█▋        | 150/900 [12:34<47:59,  3.84s/it]  
 17%|█▋        | 151/900 [12:34<34:42,  2.78s/it]
 17%|█▋        | 152/900 [12:34<25:26,  2.04s/it]
 17%|█▋        | 153/900 [13:18<3:00:15, 14.48s/it]
 17%|█▋        | 154/900 [13:18<2:07:10, 10.23s/it]
 17%|█▋        | 155/900 [13:18<1:30:04,  7.25s/it]
 17%|█▋        | 156/900 [13:19<1:04:07,  5.17s/it]
 17%|█▋        | 157/900 [13:19<45:59,  3.71s/it]  
 18%|█▊        | 158/900 [13:19<33:19,  2.69s/it]
 18%|█▊        | 159/900 [13:20<24:27,  1.98s/it]
 18%|█▊        | 160/900 [13:20<18:14,  1.48s/it]
 18%|█▊        | 161/900 [15:32<8:21:00, 40.68s/it]
 18%|█▊        | 162/900 [15:32<5:51:25, 28.57s/it]
 18%|█▊        | 163/900 [15:33<4:06:49, 20.09s/it]
 18%|█▊        | 164/900 [15:33<2:53:43, 14.16s/it]
 18%|█▊        | 165/900 [15:33<2:02:36, 10.01s/it]
 18%|█▊        | 166/900 [15:34<1:26:52,  7.10s/it]
 19%|█▊        | 167/900 [15:34<1:01:53,  5.07s/it]
 19%|█▊        | 168/900 [15:34<44:25,  3.64s/it]  
 19%|█▉        | 169/900 [16:22<3:24:59, 16.83s/it]
 19%|█▉        | 170/900 [16:22<2:24:27, 11.87s/it]
 19%|█▉        | 171/900 [16:22<1:42:07,  8.41s/it]
 19%|█▉        | 172/900 [16:23<1:12:33,  5.98s/it]
 19%|█▉        | 173/900 [16:23<51:52,  4.28s/it]  
 19%|█▉        | 174/900 [16:23<37:24,  3.09s/it]
 19%|█▉        | 175/900 [16:24<27:16,  2.26s/it]
 20%|█▉        | 176/900 [16:24<20:12,  1.67s/it]
 20%|█▉        | 177/900 [17:04<2:37:28, 13.07s/it]
 20%|█▉        | 178/900 [17:04<1:51:12,  9.24s/it]
 20%|█▉        | 179/900 [17:04<1:18:52,  6.56s/it]
 20%|██        | 180/900 [17:05<56:15,  4.69s/it]  
 20%|██        | 181/900 [17:05<40:27,  3.38s/it]
 20%|██        | 182/900 [17:05<29:23,  2.46s/it]
 20%|██        | 183/900 [17:06<21:39,  1.81s/it]
 20%|██        | 184/900 [17:06<16:15,  1.36s/it]
 21%|██        | 185/900 [17:43<2:24:19, 12.11s/it]
 21%|██        | 186/900 [17:43<1:42:00,  8.57s/it]
 21%|██        | 187/900 [17:44<1:12:25,  6.09s/it]
 21%|██        | 188/900 [17:44<51:44,  4.36s/it]  
 21%|██        | 189/900 [17:44<37:17,  3.15s/it]
 21%|██        | 190/900 [17:45<27:11,  2.30s/it]
 21%|██        | 191/900 [17:45<20:06,  1.70s/it]
 21%|██▏       | 192/900 [17:45<15:13,  1.29s/it]
 21%|██▏       | 193/900 [18:32<2:54:09, 14.78s/it]
 22%|██▏       | 194/900 [18:32<2:02:56, 10.45s/it]
 22%|██▏       | 195/900 [18:32<1:27:06,  7.41s/it]
 22%|██▏       | 196/900 [18:33<1:02:05,  5.29s/it]
 22%|██▏       | 197/900 [18:33<44:34,  3.80s/it]  
 22%|██▏       | 198/900 [18:33<32:19,  2.76s/it]
 22%|██▏       | 199/900 [18:34<23:45,  2.03s/it]
 22%|██▏       | 200/900 [18:34<17:45,  1.52s/it]
 22%|██▏       | 201/900 [19:47<4:27:25, 22.96s/it]
 22%|██▏       | 202/900 [19:47<3:08:06, 16.17s/it]
 23%|██▎       | 203/900 [19:48<2:12:41, 11.42s/it]
 23%|██▎       | 204/900 [19:48<1:33:54,  8.10s/it]
 23%|██▎       | 205/900 [19:48<1:06:47,  5.77s/it]
 23%|██▎       | 206/900 [19:49<47:51,  4.14s/it]  
 23%|██▎       | 207/900 [19:49<34:35,  3.00s/it]
 23%|██▎       | 208/900 [19:49<25:20,  2.20s/it]
 23%|██▎       | 209/900 [21:50<7:15:07, 37.78s/it]
 23%|██▎       | 210/900 [21:50<5:05:15, 26.54s/it]
 23%|██▎       | 211/900 [21:51<3:34:27, 18.68s/it]
 24%|██▎       | 212/900 [21:51<2:30:58, 13.17s/it]
 24%|██▎       | 213/900 [21:51<1:46:36,  9.31s/it]
 24%|██▍       | 214/900 [21:52<1:15:36,  6.61s/it]
 24%|██▍       | 215/900 [21:52<53:55,  4.72s/it]  
 24%|██▍       | 216/900 [21:52<38:46,  3.40s/it]
 24%|██▍       | 217/900 [22:42<3:15:37, 17.19s/it]
 24%|██▍       | 218/900 [22:42<2:17:48, 12.12s/it]
 24%|██▍       | 219/900 [22:42<1:37:23,  8.58s/it]
 24%|██▍       | 220/900 [22:43<1:09:08,  6.10s/it]
 25%|██▍       | 221/900 [22:43<49:23,  4.37s/it]  
 25%|██▍       | 222/900 [22:43<35:35,  3.15s/it]
 25%|██▍       | 223/900 [22:43<25:56,  2.30s/it]
 25%|██▍       | 224/900 [22:44<19:10,  1.70s/it]
 25%|██▌       | 225/900 [24:05<4:48:24, 25.64s/it]
 25%|██▌       | 226/900 [24:06<3:22:38, 18.04s/it]
 25%|██▌       | 227/900 [24:06<2:22:41, 12.72s/it]
 25%|██▌       | 228/900 [24:06<1:40:46,  9.00s/it]
 25%|██▌       | 229/900 [24:07<1:11:30,  6.39s/it]
 26%|██▌       | 230/900 [24:07<51:01,  4.57s/it]  
 26%|██▌       | 231/900 [24:07<36:43,  3.29s/it]
 26%|██▌       | 232/900 [24:07<26:43,  2.40s/it]
 26%|██▌       | 233/900 [24:52<2:47:04, 15.03s/it]
 26%|██▌       | 234/900 [24:52<1:57:50, 10.62s/it]
 26%|██▌       | 235/900 [24:53<1:23:24,  7.53s/it]
 26%|██▌       | 236/900 [24:53<59:20,  5.36s/it]  
 26%|██▋       | 237/900 [24:53<42:30,  3.85s/it]
 26%|██▋       | 238/900 [24:54<30:45,  2.79s/it]
 27%|██▋       | 239/900 [24:54<22:31,  2.04s/it]
 27%|██▋       | 240/900 [24:54<16:46,  1.52s/it]
 27%|██▋       | 241/900 [25:16<1:24:55,  7.73s/it]
 27%|██▋       | 242/900 [25:17<1:00:28,  5.51s/it]
 27%|██▋       | 243/900 [25:17<43:23,  3.96s/it]  
 27%|██▋       | 244/900 [25:17<31:25,  2.87s/it]
 27%|██▋       | 245/900 [25:18<23:03,  2.11s/it]
 27%|██▋       | 246/900 [25:18<17:12,  1.58s/it]
 27%|██▋       | 247/900 [25:18<13:07,  1.21s/it]
 28%|██▊       | 248/900 [25:19<10:16,  1.06it/s]
 28%|██▊       | 249/900 [26:42<4:38:41, 25.69s/it]
 28%|██▊       | 250/900 [26:42<3:15:53, 18.08s/it]
 28%|██▊       | 251/900 [26:43<2:18:00, 12.76s/it]
 28%|██▊       | 252/900 [26:43<1:37:32,  9.03s/it]
 28%|██▊       | 253/900 [26:43<1:09:10,  6.42s/it]
 28%|██▊       | 254/900 [26:44<49:20,  4.58s/it]  
 28%|██▊       | 255/900 [26:44<35:29,  3.30s/it]
 28%|██▊       | 256/900 [26:44<25:48,  2.40s/it]
 29%|██▊       | 257/900 [28:03<4:31:08, 25.30s/it]
 29%|██▊       | 258/900 [28:03<3:10:30, 17.80s/it]
 29%|██▉       | 259/900 [28:04<2:14:09, 12.56s/it]
 29%|██▉       | 260/900 [28:04<1:34:45,  8.88s/it]
 29%|██▉       | 261/900 [28:04<1:07:13,  6.31s/it]
 29%|██▉       | 262/900 [28:05<47:59,  4.51s/it]  
 29%|██▉       | 263/900 [28:05<34:36,  3.26s/it]
 29%|██▉       | 264/900 [28:05<25:14,  2.38s/it]
 29%|██▉       | 265/900 [31:28<11:01:00, 62.46s/it]
 30%|██▉       | 266/900 [31:28<7:42:59, 43.82s/it] 
 30%|██▉       | 267/900 [31:29<5:24:34, 30.77s/it]
 30%|██▉       | 268/900 [31:29<3:47:50, 21.63s/it]
 30%|██▉       | 269/900 [31:29<2:40:14, 15.24s/it]
 30%|███       | 270/900 [31:30<1:53:01, 10.76s/it]
 30%|███       | 271/900 [31:30<1:20:02,  7.63s/it]
 30%|███       | 272/900 [31:30<56:59,  5.44s/it]  
 30%|███       | 273/900 [32:24<3:29:11, 20.02s/it]
 30%|███       | 274/900 [32:25<2:27:16, 14.12s/it]
 31%|███       | 275/900 [32:25<1:43:58,  9.98s/it]
 31%|███       | 276/900 [32:25<1:13:42,  7.09s/it]
 31%|███       | 277/900 [32:26<52:32,  5.06s/it]  
 31%|███       | 278/900 [32:26<37:46,  3.64s/it]
 31%|███       | 279/900 [32:26<27:27,  2.65s/it]
 31%|███       | 280/900 [32:27<20:13,  1.96s/it]
 31%|███       | 281/900 [33:28<3:23:31, 19.73s/it]
 31%|███▏      | 282/900 [33:28<2:23:18, 13.91s/it]
 31%|███▏      | 283/900 [33:29<1:41:12,  9.84s/it]
 32%|███▏      | 284/900 [33:29<1:11:45,  6.99s/it]
 32%|███▏      | 285/900 [33:29<51:11,  4.99s/it]  
 32%|███▏      | 286/900 [33:30<36:47,  3.59s/it]
 32%|███▏      | 287/900 [33:30<26:39,  2.61s/it]
 32%|███▏      | 288/900 [33:30<19:47,  1.94s/it]
 32%|███▏      | 289/900 [34:13<2:25:29, 14.29s/it]
 32%|███▏      | 290/900 [34:14<1:42:37, 10.09s/it]
 32%|███▏      | 291/900 [34:14<1:12:39,  7.16s/it]
 32%|███▏      | 292/900 [34:14<51:42,  5.10s/it]  
 33%|███▎      | 293/900 [34:15<37:04,  3.66s/it]
 33%|███▎      | 294/900 [34:15<26:51,  2.66s/it]
 33%|███▎      | 295/900 [34:15<19:42,  1.95s/it]
 33%|███▎      | 296/900 [34:15<14:43,  1.46s/it]
 33%|███▎      | 297/900 [35:08<2:47:21, 16.65s/it]
 33%|███▎      | 298/900 [35:08<1:57:53, 11.75s/it]
 33%|███▎      | 299/900 [35:08<1:23:19,  8.32s/it]
 33%|███▎      | 300/900 [35:08<59:10,  5.92s/it]  
 33%|███▎      | 301/900 [35:09<42:16,  4.23s/it]
 34%|███▎      | 302/900 [35:09<30:28,  3.06s/it]
 34%|███▎      | 303/900 [35:09<22:13,  2.23s/it]
 34%|███▍      | 304/900 [35:10<16:27,  1.66s/it]
 34%|███▍      | 305/900 [35:55<2:25:54, 14.71s/it]
 34%|███▍      | 306/900 [35:55<1:42:54, 10.39s/it]
 34%|███▍      | 307/900 [35:56<1:12:50,  7.37s/it]
 34%|███▍      | 308/900 [35:56<51:49,  5.25s/it]  
 34%|███▍      | 309/900 [35:56<37:08,  3.77s/it]
 34%|███▍      | 310/900 [35:56<26:52,  2.73s/it]
 35%|███▍      | 311/900 [35:57<19:41,  2.01s/it]
 35%|███▍      | 312/900 [35:57<14:40,  1.50s/it]
 35%|███▍      | 313/900 [36:23<1:25:47,  8.77s/it]
 35%|███▍      | 314/900 [36:23<1:00:52,  6.23s/it]
 35%|███▌      | 315/900 [36:23<43:26,  4.46s/it]  
 35%|███▌      | 316/900 [36:24<31:16,  3.21s/it]
 35%|███▌      | 317/900 [36:24<22:45,  2.34s/it]
 35%|███▌      | 318/900 [36:24<16:48,  1.73s/it]
 35%|███▌      | 319/900 [36:25<12:38,  1.31s/it]
 36%|███▌      | 320/900 [36:25<09:48,  1.01s/it]
 36%|███▌      | 321/900 [37:12<2:21:39, 14.68s/it]
 36%|███▌      | 322/900 [37:12<1:39:55, 10.37s/it]
 36%|███▌      | 323/900 [37:12<1:10:47,  7.36s/it]
 36%|███▌      | 324/900 [37:13<50:24,  5.25s/it]  
 36%|███▌      | 325/900 [37:13<36:11,  3.78s/it]
 36%|███▌      | 326/900 [37:13<26:16,  2.75s/it]
 36%|███▋      | 327/900 [37:14<19:17,  2.02s/it]
 36%|███▋      | 328/900 [37:14<14:26,  1.52s/it]
 37%|███▋      | 329/900 [37:53<2:02:29, 12.87s/it]
 37%|███▋      | 330/900 [37:54<1:26:31,  9.11s/it]
 37%|███▋      | 331/900 [37:54<1:01:21,  6.47s/it]
 37%|███▋      | 332/900 [37:54<43:45,  4.62s/it]  
 37%|███▋      | 333/900 [37:55<31:28,  3.33s/it]
 37%|███▋      | 334/900 [37:55<22:51,  2.42s/it]
 37%|███▋      | 335/900 [37:55<16:53,  1.79s/it]
 37%|███▋      | 336/900 [37:56<12:45,  1.36s/it]
 37%|███▋      | 337/900 [38:58<3:05:28, 19.77s/it]
 38%|███▊      | 338/900 [38:59<2:10:28, 13.93s/it]
 38%|███▊      | 339/900 [38:59<1:32:02,  9.84s/it]
 38%|███▊      | 340/900 [38:59<1:05:12,  6.99s/it]
 38%|███▊      | 341/900 [39:00<46:25,  4.98s/it]  
 38%|███▊      | 342/900 [39:00<33:19,  3.58s/it]
 38%|███▊      | 343/900 [39:00<24:09,  2.60s/it]
 38%|███▊      | 344/900 [39:00<17:44,  1.92s/it]
 38%|███▊      | 345/900 [39:51<2:32:43, 16.51s/it]
 38%|███▊      | 346/900 [39:51<1:47:38, 11.66s/it]
 39%|███▊      | 347/900 [39:52<1:16:05,  8.26s/it]
 39%|███▊      | 348/900 [39:52<54:01,  5.87s/it]  
 39%|███▉      | 349/900 [39:52<38:35,  4.20s/it]
 39%|███▉      | 350/900 [39:53<27:49,  3.04s/it]
 39%|███▉      | 351/900 [39:53<20:18,  2.22s/it]
 39%|███▉      | 352/900 [39:53<15:02,  1.65s/it]
 39%|███▉      | 353/900 [41:06<3:29:43, 23.00s/it]
 39%|███▉      | 354/900 [41:06<2:27:23, 16.20s/it]
 39%|███▉      | 355/900 [41:07<1:43:50, 11.43s/it]
 40%|███▉      | 356/900 [41:07<1:13:24,  8.10s/it]
 40%|███▉      | 357/900 [41:07<52:09,  5.76s/it]  
 40%|███▉      | 358/900 [41:08<37:17,  4.13s/it]
 40%|███▉      | 359/900 [41:08<26:53,  2.98s/it]
 40%|████      | 360/900 [41:08<19:38,  2.18s/it]
 40%|████      | 361/900 [41:41<1:42:29, 11.41s/it]
 40%|████      | 362/900 [41:42<1:12:27,  8.08s/it]
 40%|████      | 363/900 [41:42<51:28,  5.75s/it]  
 40%|████      | 364/900 [41:42<36:48,  4.12s/it]
 41%|████      | 365/900 [41:42<26:33,  2.98s/it]
 41%|████      | 366/900 [41:43<19:23,  2.18s/it]
 41%|████      | 367/900 [41:43<14:23,  1.62s/it]
 41%|████      | 368/900 [41:43<10:52,  1.23s/it]
 41%|████      | 369/900 [42:44<2:47:25, 18.92s/it]
 41%|████      | 370/900 [42:44<1:57:49, 13.34s/it]
 41%|████      | 371/900 [42:44<1:23:10,  9.43s/it]
 41%|████▏     | 372/900 [42:45<58:57,  6.70s/it]  
 41%|████▏     | 373/900 [42:45<42:01,  4.78s/it]
 42%|████▏     | 374/900 [42:45<30:09,  3.44s/it]
 42%|████▏     | 375/900 [42:45<21:54,  2.50s/it]
 42%|████▏     | 376/900 [42:46<16:10,  1.85s/it]
 42%|████▏     | 377/900 [43:24<1:49:56, 12.61s/it]
 42%|████▏     | 378/900 [43:24<1:17:40,  8.93s/it]
 42%|████▏     | 379/900 [43:24<55:07,  6.35s/it]  
 42%|████▏     | 380/900 [43:25<39:22,  4.54s/it]
 42%|████▏     | 381/900 [43:25<28:21,  3.28s/it]
 42%|████▏     | 382/900 [43:25<20:40,  2.39s/it]
 43%|████▎     | 383/900 [43:26<15:17,  1.78s/it]
 43%|████▎     | 384/900 [43:26<11:32,  1.34s/it]
 43%|████▎     | 385/900 [44:11<2:04:14, 14.48s/it]
 43%|████▎     | 386/900 [44:11<1:27:39, 10.23s/it]
 43%|████▎     | 387/900 [44:12<1:02:04,  7.26s/it]
 43%|████▎     | 388/900 [44:12<44:13,  5.18s/it]  
 43%|████▎     | 389/900 [44:12<31:44,  3.73s/it]
 43%|████▎     | 390/900 [44:13<22:59,  2.71s/it]
 43%|████▎     | 391/900 [44:13<16:54,  1.99s/it]
 44%|████▎     | 392/900 [44:13<12:36,  1.49s/it]
 44%|████▎     | 393/900 [44:52<1:46:18, 12.58s/it]
 44%|████▍     | 394/900 [44:52<1:15:02,  8.90s/it]
 44%|████▍     | 395/900 [44:52<53:12,  6.32s/it]  
 44%|████▍     | 396/900 [44:53<37:57,  4.52s/it]
 44%|████▍     | 397/900 [44:53<27:16,  3.25s/it]
 44%|████▍     | 398/900 [44:53<19:50,  2.37s/it]
 44%|████▍     | 399/900 [44:54<14:38,  1.75s/it]
 44%|████▍     | 400/900 [44:54<11:00,  1.32s/it]
 45%|████▍     | 401/900 [45:38<1:56:35, 14.02s/it]
 45%|████▍     | 402/900 [45:38<1:22:14,  9.91s/it]
 45%|████▍     | 403/900 [45:38<58:13,  7.03s/it]  
 45%|████▍     | 404/900 [45:38<41:27,  5.01s/it]
 45%|████▌     | 405/900 [45:39<29:44,  3.61s/it]
 45%|████▌     | 406/900 [45:39<21:36,  2.62s/it]
 45%|████▌     | 407/900 [45:39<15:54,  1.94s/it]
 45%|████▌     | 408/900 [45:40<11:54,  1.45s/it]
 45%|████▌     | 409/900 [46:21<1:49:53, 13.43s/it]
 46%|████▌     | 410/900 [46:21<1:17:33,  9.50s/it]
 46%|████▌     | 411/900 [46:22<54:58,  6.75s/it]  
 46%|████▌     | 412/900 [46:22<39:11,  4.82s/it]
 46%|████▌     | 413/900 [46:22<28:09,  3.47s/it]
 46%|████▌     | 414/900 [46:23<20:27,  2.53s/it]
 46%|████▌     | 415/900 [46:23<15:04,  1.86s/it]
 46%|████▌     | 416/900 [46:23<11:18,  1.40s/it]
 46%|████▋     | 417/900 [46:57<1:28:29, 10.99s/it]
 46%|████▋     | 418/900 [46:57<1:02:35,  7.79s/it]
 47%|████▋     | 419/900 [46:57<44:28,  5.55s/it]  
 47%|████▋     | 420/900 [46:58<31:48,  3.98s/it]
 47%|████▋     | 421/900 [46:58<22:57,  2.88s/it]
 47%|████▋     | 422/900 [46:58<16:49,  2.11s/it]
 47%|████▋     | 423/900 [46:59<12:29,  1.57s/it]
 47%|████▋     | 424/900 [46:59<09:27,  1.19s/it]
 47%|████▋     | 425/900 [47:31<1:23:17, 10.52s/it]
 47%|████▋     | 426/900 [47:32<58:55,  7.46s/it]  
 47%|████▋     | 427/900 [47:32<41:53,  5.31s/it]
 48%|████▊     | 428/900 [47:32<30:00,  3.81s/it]
 48%|████▊     | 429/900 [47:33<21:41,  2.76s/it]
 48%|████▊     | 430/900 [47:33<15:53,  2.03s/it]
 48%|████▊     | 431/900 [47:33<11:50,  1.51s/it]
 48%|████▊     | 432/900 [47:33<08:59,  1.15s/it]
 48%|████▊     | 433/900 [48:13<1:37:28, 12.52s/it]
 48%|████▊     | 434/900 [48:13<1:08:56,  8.88s/it]
 48%|████▊     | 435/900 [48:13<48:52,  6.31s/it]  
 48%|████▊     | 436/900 [48:14<34:52,  4.51s/it]
 49%|████▊     | 437/900 [48:14<25:04,  3.25s/it]
 49%|████▊     | 438/900 [48:14<18:13,  2.37s/it]
 49%|████▉     | 439/900 [48:14<13:26,  1.75s/it]
 49%|████▉     | 440/900 [48:15<10:06,  1.32s/it]
 49%|████▉     | 441/900 [49:11<2:15:44, 17.74s/it]
 49%|████▉     | 442/900 [49:11<1:35:31, 12.51s/it]
 49%|████▉     | 443/900 [49:11<1:07:25,  8.85s/it]
 49%|████▉     | 444/900 [49:12<47:48,  6.29s/it]  
 49%|████▉     | 445/900 [49:12<34:05,  4.50s/it]
 50%|████▉     | 446/900 [49:12<24:31,  3.24s/it]
 50%|████▉     | 447/900 [49:13<17:49,  2.36s/it]
 50%|████▉     | 448/900 [49:13<13:09,  1.75s/it]
 50%|████▉     | 449/900 [50:27<2:56:55, 23.54s/it]
 50%|█████     | 450/900 [50:28<2:04:16, 16.57s/it]
 50%|█████     | 451/900 [50:28<1:27:29, 11.69s/it]
 50%|█████     | 452/900 [50:28<1:01:48,  8.28s/it]
 50%|█████     | 453/900 [50:29<43:53,  5.89s/it]  
 50%|█████     | 454/900 [50:29<31:20,  4.22s/it]
 51%|█████     | 455/900 [50:29<22:35,  3.05s/it]
 51%|█████     | 456/900 [50:30<16:28,  2.23s/it]
 51%|█████     | 457/900 [51:25<2:15:12, 18.31s/it]
 51%|█████     | 458/900 [51:26<1:35:07, 12.91s/it]
 51%|█████     | 459/900 [51:26<1:07:07,  9.13s/it]
 51%|█████     | 460/900 [51:26<47:33,  6.49s/it]  
 51%|█████     | 461/900 [51:27<33:54,  4.63s/it]
 51%|█████▏    | 462/900 [51:27<24:21,  3.34s/it]
 51%|█████▏    | 463/900 [51:27<17:41,  2.43s/it]
 52%|█████▏    | 464/900 [51:28<13:01,  1.79s/it]
 52%|█████▏    | 465/900 [51:58<1:15:08, 10.37s/it]
 52%|█████▏    | 466/900 [51:58<53:09,  7.35s/it]  
 52%|█████▏    | 467/900 [51:59<37:48,  5.24s/it]
 52%|█████▏    | 468/900 [51:59<27:04,  3.76s/it]
 52%|█████▏    | 469/900 [51:59<19:34,  2.73s/it]
 52%|█████▏    | 470/900 [52:00<14:21,  2.00s/it]
 52%|█████▏    | 471/900 [52:00<10:44,  1.50s/it]
 52%|█████▏    | 472/900 [52:00<08:15,  1.16s/it]
 53%|█████▎    | 473/900 [54:20<5:03:45, 42.68s/it]
 53%|█████▎    | 474/900 [54:20<3:32:50, 29.98s/it]
 53%|█████▎    | 475/900 [54:20<2:29:19, 21.08s/it]
 53%|█████▎    | 476/900 [54:21<1:44:56, 14.85s/it]
 53%|█████▎    | 477/900 [54:21<1:13:56, 10.49s/it]
 53%|█████▎    | 478/900 [54:21<52:17,  7.43s/it]  
 53%|█████▎    | 479/900 [54:22<37:10,  5.30s/it]
 53%|█████▎    | 480/900 [54:22<26:36,  3.80s/it]
 53%|█████▎    | 481/900 [55:09<1:56:43, 16.71s/it]
 54%|█████▎    | 482/900 [55:09<1:22:10, 11.79s/it]
 54%|█████▎    | 483/900 [55:09<58:02,  8.35s/it]  
 54%|█████▍    | 484/900 [55:10<41:10,  5.94s/it]
 54%|█████▍    | 485/900 [55:10<29:24,  4.25s/it]
 54%|█████▍    | 486/900 [55:10<21:11,  3.07s/it]
 54%|█████▍    | 487/900 [55:11<15:28,  2.25s/it]
 54%|█████▍    | 488/900 [55:11<11:29,  1.67s/it]
 54%|█████▍    | 489/900 [56:14<2:17:20, 20.05s/it]
 54%|█████▍    | 490/900 [56:14<1:36:35, 14.14s/it]
 55%|█████▍    | 491/900 [56:15<1:08:08, 10.00s/it]
 55%|█████▍    | 492/900 [56:15<48:14,  7.09s/it]  
 55%|█████▍    | 493/900 [56:15<34:21,  5.06s/it]
 55%|█████▍    | 494/900 [56:16<24:39,  3.64s/it]
 55%|█████▌    | 495/900 [56:16<17:53,  2.65s/it]
 55%|█████▌    | 496/900 [56:16<13:09,  1.95s/it]
 55%|█████▌    | 497/900 [58:13<4:04:48, 36.45s/it]
 55%|█████▌    | 498/900 [58:14<2:51:36, 25.61s/it]
 55%|█████▌    | 499/900 [58:14<2:00:29, 18.03s/it]
 56%|█████▌    | 500/900 [58:15<1:25:37, 12.84s/it]
 56%|█████▌    | 501/900 [58:15<1:00:23,  9.08s/it]
 56%|█████▌    | 502/900 [58:15<42:47,  6.45s/it]  
 56%|█████▌    | 503/900 [58:16<30:29,  4.61s/it]
 56%|█████▌    | 504/900 [58:16<21:55,  3.32s/it]
 56%|█████▌    | 505/900 [1:00:02<3:44:13, 34.06s/it]
 56%|█████▌    | 506/900 [1:00:02<2:37:12, 23.94s/it]
 56%|█████▋    | 507/900 [1:00:02<1:50:22, 16.85s/it]
 56%|█████▋    | 508/900 [1:00:03<1:17:41, 11.89s/it]
 57%|█████▋    | 509/900 [1:00:03<54:51,  8.42s/it]  
 57%|█████▋    | 510/900 [1:00:03<38:55,  5.99s/it]
 57%|█████▋    | 511/900 [1:00:04<27:47,  4.29s/it]
 57%|█████▋    | 512/900 [1:00:04<20:01,  3.10s/it]
 57%|█████▋    | 513/900 [1:02:00<3:58:02, 36.90s/it]
 57%|█████▋    | 514/900 [1:02:00<2:46:50, 25.94s/it]
 57%|█████▋    | 515/900 [1:02:00<1:57:08, 18.26s/it]
 57%|█████▋    | 516/900 [1:02:01<1:22:25, 12.88s/it]
 57%|█████▋    | 517/900 [1:02:01<58:13,  9.12s/it]  
 58%|█████▊    | 518/900 [1:02:01<41:18,  6.49s/it]
 58%|█████▊    | 519/900 [1:02:02<29:30,  4.65s/it]
 58%|█████▊    | 520/900 [1:02:02<21:14,  3.35s/it]
 58%|█████▊    | 521/900 [1:02:46<1:37:49, 15.49s/it]
 58%|█████▊    | 522/900 [1:02:46<1:08:56, 10.94s/it]
 58%|█████▊    | 523/900 [1:02:47<48:46,  7.76s/it]  
 58%|█████▊    | 524/900 [1:02:47<34:42,  5.54s/it]
 58%|█████▊    | 525/900 [1:02:47<24:51,  3.98s/it]
 58%|█████▊    | 526/900 [1:02:48<17:59,  2.89s/it]
 59%|█████▊    | 527/900 [1:02:48<13:11,  2.12s/it]
 59%|█████▊    | 528/900 [1:02:48<09:49,  1.58s/it]
 59%|█████▉    | 529/900 [1:03:39<1:40:35, 16.27s/it]
 59%|█████▉    | 530/900 [1:03:39<1:10:51, 11.49s/it]
 59%|█████▉    | 531/900 [1:03:39<50:05,  8.14s/it]  
 59%|█████▉    | 532/900 [1:03:40<35:34,  5.80s/it]
 59%|█████▉    | 533/900 [1:03:40<25:26,  4.16s/it]
 59%|█████▉    | 534/900 [1:03:40<18:23,  3.01s/it]
 59%|█████▉    | 535/900 [1:03:41<13:26,  2.21s/it]
 60%|█████▉    | 536/900 [1:03:41<09:59,  1.65s/it]
 60%|█████▉    | 537/900 [1:04:47<2:07:20, 21.05s/it]
 60%|█████▉    | 538/900 [1:04:48<1:29:29, 14.83s/it]
 60%|█████▉    | 539/900 [1:04:48<1:03:01, 10.48s/it]
 60%|██████    | 540/900 [1:04:48<44:33,  7.43s/it]  
 60%|██████    | 541/900 [1:04:49<31:39,  5.29s/it]
 60%|██████    | 542/900 [1:04:49<22:39,  3.80s/it]
 60%|██████    | 543/900 [1:04:49<16:23,  2.75s/it]
 60%|██████    | 544/900 [1:04:50<12:00,  2.02s/it]
 61%|██████    | 545/900 [1:07:08<4:13:07, 42.78s/it]
 61%|██████    | 546/900 [1:07:08<2:57:14, 30.04s/it]
 61%|██████    | 547/900 [1:07:08<2:04:16, 21.12s/it]
 61%|██████    | 548/900 [1:07:09<1:27:17, 14.88s/it]
 61%|██████    | 549/900 [1:07:09<1:01:28, 10.51s/it]
 61%|██████    | 550/900 [1:07:09<43:26,  7.45s/it]  
 61%|██████    | 551/900 [1:07:09<30:52,  5.31s/it]
 61%|██████▏   | 552/900 [1:07:10<22:05,  3.81s/it]
 61%|██████▏   | 553/900 [1:08:22<2:20:14, 24.25s/it]
 62%|██████▏   | 554/900 [1:08:22<1:38:25, 17.07s/it]
 62%|██████▏   | 555/900 [1:08:22<1:09:14, 12.04s/it]
 62%|██████▏   | 556/900 [1:08:23<48:51,  8.52s/it]  
 62%|██████▏   | 557/900 [1:08:23<34:37,  6.06s/it]
 62%|██████▏   | 558/900 [1:08:23<24:42,  4.33s/it]
 62%|██████▏   | 559/900 [1:08:24<17:46,  3.13s/it]
 62%|██████▏   | 560/900 [1:08:24<12:55,  2.28s/it]
 62%|██████▏   | 561/900 [1:09:38<2:14:22, 23.78s/it]
 62%|██████▏   | 562/900 [1:09:38<1:34:20, 16.75s/it]
 63%|██████▎   | 563/900 [1:09:38<1:06:23, 11.82s/it]
 63%|██████▎   | 564/900 [1:09:39<46:53,  8.37s/it]  
 63%|██████▎   | 565/900 [1:09:39<33:16,  5.96s/it]
 63%|██████▎   | 566/900 [1:09:39<23:46,  4.27s/it]
 63%|██████▎   | 567/900 [1:09:40<17:08,  3.09s/it]
 63%|██████▎   | 568/900 [1:09:40<12:30,  2.26s/it]
 63%|██████▎   | 569/900 [1:11:51<3:44:48, 40.75s/it]
 63%|██████▎   | 570/900 [1:11:51<2:37:24, 28.62s/it]
 63%|██████▎   | 571/900 [1:11:51<1:50:21, 20.13s/it]
 64%|██████▎   | 572/900 [1:11:52<1:17:31, 14.18s/it]
 64%|██████▎   | 573/900 [1:11:52<54:36, 10.02s/it]  
 64%|██████▍   | 574/900 [1:11:52<38:36,  7.11s/it]
 64%|██████▍   | 575/900 [1:11:53<27:26,  5.07s/it]
 64%|██████▍   | 576/900 [1:11:53<19:39,  3.64s/it]
 64%|██████▍   | 577/900 [1:22:47<17:49:27, 198.66s/it]
 64%|██████▍   | 578/900 [1:22:47<12:26:51, 139.17s/it]
 64%|██████▍   | 579/900 [1:22:47<8:41:40, 97.51s/it]  
 64%|██████▍   | 580/900 [1:22:48<6:04:32, 68.35s/it]
 65%|██████▍   | 581/900 [1:22:48<4:14:52, 47.94s/it]
 65%|██████▍   | 582/900 [1:22:48<2:58:21, 33.65s/it]
 65%|██████▍   | 583/900 [1:22:48<2:04:58, 23.65s/it]
 65%|██████▍   | 584/900 [1:22:49<1:27:41, 16.65s/it]
 65%|██████▌   | 585/900 [1:25:28<5:12:24, 59.51s/it]
 65%|██████▌   | 586/900 [1:25:29<3:38:28, 41.75s/it]
 65%|██████▌   | 587/900 [1:25:29<2:32:56, 29.32s/it]
 65%|██████▌   | 588/900 [1:25:29<1:47:11, 20.61s/it]
 65%|██████▌   | 589/900 [1:25:30<1:15:16, 14.52s/it]
 66%|██████▌   | 590/900 [1:25:30<53:00, 10.26s/it]  
 66%|██████▌   | 591/900 [1:25:30<37:29,  7.28s/it]
 66%|██████▌   | 592/900 [1:25:30<26:39,  5.19s/it]
 66%|██████▌   | 593/900 [1:26:59<2:34:24, 30.18s/it]
 66%|██████▌   | 594/900 [1:26:59<1:48:14, 21.22s/it]
 66%|██████▌   | 595/900 [1:27:00<1:16:00, 14.95s/it]
 66%|██████▌   | 596/900 [1:27:00<53:31, 10.56s/it]  
 66%|██████▋   | 597/900 [1:27:00<37:50,  7.49s/it]
 66%|██████▋   | 598/900 [1:27:01<26:53,  5.34s/it]
 67%|██████▋   | 599/900 [1:27:01<19:15,  3.84s/it]
 67%|██████▋   | 600/900 [1:27:01<13:55,  2.78s/it]
 67%|██████▋   | 601/900 [1:29:45<4:13:56, 50.96s/it]
 67%|██████▋   | 602/900 [1:29:45<2:57:41, 35.78s/it]
 67%|██████▋   | 603/900 [1:29:45<2:04:29, 25.15s/it]
 67%|██████▋   | 604/900 [1:29:46<1:27:22, 17.71s/it]
 67%|██████▋   | 605/900 [1:29:46<1:01:28, 12.50s/it]
 67%|██████▋   | 606/900 [1:29:46<43:23,  8.86s/it]  
 67%|██████▋   | 607/900 [1:29:47<30:46,  6.30s/it]
 68%|██████▊   | 608/900 [1:29:47<21:57,  4.51s/it]
 68%|██████▊   | 609/900 [1:30:28<1:15:16, 15.52s/it]
 68%|██████▊   | 610/900 [1:30:29<53:00, 10.97s/it]  
 68%|██████▊   | 611/900 [1:30:29<37:27,  7.78s/it]
 68%|██████▊   | 612/900 [1:30:29<26:36,  5.54s/it]
 68%|██████▊   | 613/900 [1:30:30<19:02,  3.98s/it]
 68%|██████▊   | 614/900 [1:30:30<13:45,  2.89s/it]
 68%|██████▊   | 615/900 [1:30:30<10:03,  2.12s/it]
 68%|██████▊   | 616/900 [1:30:31<07:27,  1.57s/it]
 69%|██████▊   | 617/900 [1:31:30<1:29:34, 18.99s/it]
 69%|██████▊   | 618/900 [1:31:31<1:02:55, 13.39s/it]
 69%|██████▉   | 619/900 [1:31:31<44:19,  9.46s/it]  
 69%|██████▉   | 620/900 [1:31:31<31:20,  6.72s/it]
 69%|██████▉   | 621/900 [1:31:31<22:17,  4.80s/it]
 69%|██████▉   | 622/900 [1:31:32<15:59,  3.45s/it]
 69%|██████▉   | 623/900 [1:31:32<11:34,  2.51s/it]
 69%|██████▉   | 624/900 [1:31:32<08:30,  1.85s/it]
 69%|██████▉   | 625/900 [1:32:36<1:33:25, 20.38s/it]
 70%|██████▉   | 626/900 [1:32:36<1:05:35, 14.36s/it]
 70%|██████▉   | 627/900 [1:32:37<46:09, 10.15s/it]  
 70%|██████▉   | 628/900 [1:32:37<32:37,  7.19s/it]
 70%|██████▉   | 629/900 [1:32:37<23:10,  5.13s/it]
 70%|███████   | 630/900 [1:32:38<16:34,  3.68s/it]
 70%|███████   | 631/900 [1:32:38<11:58,  2.67s/it]
 70%|███████   | 632/900 [1:32:38<08:46,  1.96s/it]
 70%|███████   | 633/900 [1:33:38<1:25:42, 19.26s/it]
 70%|███████   | 634/900 [1:33:38<1:00:12, 13.58s/it]
 71%|███████   | 635/900 [1:33:38<42:25,  9.61s/it]  
 71%|███████   | 636/900 [1:33:39<30:00,  6.82s/it]
 71%|███████   | 637/900 [1:33:39<21:20,  4.87s/it]
 71%|███████   | 638/900 [1:33:39<15:17,  3.50s/it]
 71%|███████   | 639/900 [1:33:40<11:04,  2.54s/it]
 71%|███████   | 640/900 [1:33:40<08:07,  1.87s/it]
 71%|███████   | 641/900 [1:34:28<1:07:53, 15.73s/it]
 71%|███████▏  | 642/900 [1:34:28<47:45, 11.11s/it]  
 71%|███████▏  | 643/900 [1:34:29<33:41,  7.87s/it]
 72%|███████▏  | 644/900 [1:34:29<23:53,  5.60s/it]
 72%|███████▏  | 645/900 [1:34:29<17:02,  4.01s/it]
 72%|███████▏  | 646/900 [1:34:30<12:16,  2.90s/it]
 72%|███████▏  | 647/900 [1:34:30<08:56,  2.12s/it]
 72%|███████▏  | 648/900 [1:34:30<06:36,  1.57s/it]
 72%|███████▏  | 649/900 [1:35:29<1:18:55, 18.87s/it]
 72%|███████▏  | 650/900 [1:35:30<55:24, 13.30s/it]  
 72%|███████▏  | 651/900 [1:35:30<39:00,  9.40s/it]
 72%|███████▏  | 652/900 [1:35:30<27:34,  6.67s/it]
 73%|███████▎  | 653/900 [1:35:31<19:36,  4.76s/it]
 73%|███████▎  | 654/900 [1:35:31<14:02,  3.43s/it]
 73%|███████▎  | 655/900 [1:35:31<10:09,  2.49s/it]
 73%|███████▎  | 656/900 [1:35:32<07:27,  1.83s/it]
 73%|███████▎  | 657/900 [1:36:28<1:13:56, 18.26s/it]
 73%|███████▎  | 658/900 [1:36:28<51:56, 12.88s/it]  
 73%|███████▎  | 659/900 [1:36:29<36:39,  9.12s/it]
 73%|███████▎  | 660/900 [1:36:29<25:59,  6.50s/it]
 73%|███████▎  | 661/900 [1:36:30<18:33,  4.66s/it]
 74%|███████▎  | 662/900 [1:36:30<13:21,  3.37s/it]
 74%|███████▎  | 663/900 [1:36:30<09:43,  2.46s/it]
 74%|███████▍  | 664/900 [1:36:31<07:11,  1.83s/it]
 74%|███████▍  | 665/900 [1:37:15<56:36, 14.45s/it]
 74%|███████▍  | 666/900 [1:37:15<39:51, 10.22s/it]
 74%|███████▍  | 667/900 [1:37:15<28:08,  7.25s/it]
 74%|███████▍  | 668/900 [1:37:16<19:58,  5.17s/it]
 74%|███████▍  | 669/900 [1:37:16<14:16,  3.71s/it]
 74%|███████▍  | 670/900 [1:37:16<10:18,  2.69s/it]
 75%|███████▍  | 671/900 [1:37:16<07:32,  1.98s/it]
 75%|███████▍  | 672/900 [1:37:17<05:36,  1.48s/it]
 75%|███████▍  | 673/900 [1:39:25<2:29:32, 39.53s/it]
 75%|███████▍  | 674/900 [1:39:25<1:44:34, 27.76s/it]
 75%|███████▌  | 675/900 [1:39:26<1:13:13, 19.53s/it]
 75%|███████▌  | 676/900 [1:39:26<51:22, 13.76s/it]  
 75%|███████▌  | 677/900 [1:39:26<36:09,  9.73s/it]
 75%|███████▌  | 678/900 [1:39:27<25:32,  6.90s/it]
 75%|███████▌  | 679/900 [1:39:27<18:08,  4.93s/it]
 76%|███████▌  | 680/900 [1:39:27<12:59,  3.54s/it]
 76%|███████▌  | 681/900 [1:42:34<3:34:01, 58.64s/it]
 76%|███████▌  | 682/900 [1:42:35<2:29:29, 41.15s/it]
 76%|███████▌  | 683/900 [1:42:35<1:44:31, 28.90s/it]
 76%|███████▌  | 684/900 [1:42:35<1:13:11, 20.33s/it]
 76%|███████▌  | 685/900 [1:42:36<51:21, 14.33s/it]  
 76%|███████▌  | 686/900 [1:42:36<36:08, 10.14s/it]
 76%|███████▋  | 687/900 [1:42:36<25:32,  7.20s/it]
 76%|███████▋  | 688/900 [1:42:37<18:09,  5.14s/it]
 77%|███████▋  | 689/900 [1:43:45<1:24:30, 24.03s/it]
 77%|███████▋  | 690/900 [1:43:45<59:13, 16.92s/it]  
 77%|███████▋  | 691/900 [1:43:46<41:37, 11.95s/it]
 77%|███████▋  | 692/900 [1:43:46<29:21,  8.47s/it]
 77%|███████▋  | 693/900 [1:43:46<20:48,  6.03s/it]
 77%|███████▋  | 694/900 [1:43:47<14:50,  4.32s/it]
 77%|███████▋  | 695/900 [1:43:47<10:41,  3.13s/it]
 77%|███████▋  | 696/900 [1:43:47<07:46,  2.29s/it]
 77%|███████▋  | 697/900 [1:48:48<5:11:07, 91.96s/it]
 78%|███████▊  | 698/900 [1:48:49<3:37:03, 64.47s/it]
 78%|███████▊  | 699/900 [1:48:49<2:31:31, 45.23s/it]
 78%|███████▊  | 700/900 [1:48:49<1:45:52, 31.76s/it]
 78%|███████▊  | 701/900 [1:48:50<1:14:04, 22.33s/it]
 78%|███████▊  | 702/900 [1:48:50<51:55, 15.73s/it]  
 78%|███████▊  | 703/900 [1:48:50<36:29, 11.11s/it]
 78%|███████▊  | 704/900 [1:48:51<25:43,  7.88s/it]
 78%|███████▊  | 705/900 [1:58:01<9:14:44, 170.69s/it]
 78%|███████▊  | 706/900 [1:58:02<6:26:39, 119.58s/it]
 79%|███████▊  | 707/900 [1:58:02<4:29:35, 83.81s/it] 
 79%|███████▊  | 708/900 [1:58:02<3:08:03, 58.77s/it]
 79%|███████▉  | 709/900 [1:58:03<2:11:16, 41.24s/it]
 79%|███████▉  | 710/900 [1:58:03<1:31:43, 28.96s/it]
 79%|███████▉  | 711/900 [1:58:03<1:04:10, 20.37s/it]
 79%|███████▉  | 712/900 [1:58:04<45:00, 14.37s/it]  
 79%|███████▉  | 713/900 [2:02:37<4:47:17, 92.18s/it]
 79%|███████▉  | 714/900 [2:02:38<3:20:20, 64.63s/it]
 79%|███████▉  | 715/900 [2:02:38<2:19:47, 45.34s/it]
 80%|███████▉  | 716/900 [2:02:38<1:37:38, 31.84s/it]
 80%|███████▉  | 717/900 [2:02:39<1:08:17, 22.39s/it]
 80%|███████▉  | 718/900 [2:02:39<47:50, 15.77s/it]  
 80%|███████▉  | 719/900 [2:02:39<33:36, 11.14s/it]
 80%|████████  | 720/900 [2:02:40<23:41,  7.90s/it]
 80%|████████  | 721/900 [2:04:52<2:15:00, 45.25s/it]
 80%|████████  | 722/900 [2:04:53<1:34:17, 31.78s/it]
 80%|████████  | 723/900 [2:04:53<1:05:55, 22.35s/it]
 80%|████████  | 724/900 [2:04:53<46:10, 15.74s/it]  
 81%|████████  | 725/900 [2:04:54<32:26, 11.12s/it]
 81%|████████  | 726/900 [2:04:54<22:51,  7.88s/it]
 81%|████████  | 727/900 [2:04:54<16:11,  5.62s/it]
 81%|████████  | 728/900 [2:04:55<11:33,  4.03s/it]
 81%|████████  | 729/900 [2:06:55<1:50:40, 38.83s/it]
 81%|████████  | 730/900 [2:06:55<1:17:18, 27.28s/it]
 81%|████████  | 731/900 [2:06:55<54:04, 19.20s/it]  
 81%|████████▏ | 732/900 [2:06:56<37:53, 13.53s/it]
 81%|████████▏ | 733/900 [2:06:56<26:37,  9.57s/it]
 82%|████████▏ | 734/900 [2:06:56<18:46,  6.79s/it]
 82%|████████▏ | 735/900 [2:06:57<13:19,  4.84s/it]
 82%|████████▏ | 736/900 [2:06:57<09:31,  3.48s/it]
 82%|████████▏ | 737/900 [2:08:49<1:38:09, 36.13s/it]
 82%|████████▏ | 738/900 [2:08:49<1:08:32, 25.39s/it]
 82%|████████▏ | 739/900 [2:08:50<47:56, 17.86s/it]  
 82%|████████▏ | 740/900 [2:08:50<33:35, 12.60s/it]
 82%|████████▏ | 741/900 [2:08:50<23:37,  8.92s/it]
 82%|████████▏ | 742/900 [2:08:51<16:41,  6.34s/it]
 83%|████████▎ | 743/900 [2:08:51<11:51,  4.53s/it]
 83%|████████▎ | 744/900 [2:08:51<08:29,  3.27s/it]
 83%|████████▎ | 745/900 [2:09:56<56:05, 21.71s/it]
 83%|████████▎ | 746/900 [2:09:56<39:15, 15.29s/it]
 83%|████████▎ | 747/900 [2:09:57<27:32, 10.80s/it]
 83%|████████▎ | 748/900 [2:09:57<19:23,  7.65s/it]
 83%|████████▎ | 749/900 [2:09:57<13:42,  5.45s/it]
 83%|████████▎ | 750/900 [2:09:58<09:46,  3.91s/it]
 83%|████████▎ | 751/900 [2:09:58<07:01,  2.83s/it]
 84%|████████▎ | 752/900 [2:09:58<05:06,  2.07s/it]
 84%|████████▎ | 753/900 [2:13:04<2:19:46, 57.05s/it]
 84%|████████▍ | 754/900 [2:13:04<1:37:24, 40.03s/it]
 84%|████████▍ | 755/900 [2:13:04<1:07:56, 28.11s/it]
 84%|████████▍ | 756/900 [2:13:05<47:27, 19.77s/it]  
 84%|████████▍ | 757/900 [2:13:05<33:12, 13.94s/it]
 84%|████████▍ | 758/900 [2:13:05<23:19,  9.85s/it]
 84%|████████▍ | 759/900 [2:13:06<16:26,  7.00s/it]
 84%|████████▍ | 760/900 [2:13:06<11:39,  5.00s/it]
 85%|████████▍ | 761/900 [2:14:14<55:19, 23.88s/it]
 85%|████████▍ | 762/900 [2:14:14<38:40, 16.81s/it]
 85%|████████▍ | 763/900 [2:14:14<27:05, 11.87s/it]
 85%|████████▍ | 764/900 [2:14:15<19:03,  8.41s/it]
 85%|████████▌ | 765/900 [2:14:15<13:28,  5.99s/it]
 85%|████████▌ | 766/900 [2:14:15<09:35,  4.29s/it]
 85%|████████▌ | 767/900 [2:14:16<06:53,  3.11s/it]
 85%|████████▌ | 768/900 [2:14:16<05:00,  2.28s/it]
 85%|████████▌ | 769/900 [2:15:42<59:25, 27.22s/it]
 86%|████████▌ | 770/900 [2:15:42<41:29, 19.15s/it]
 86%|████████▌ | 771/900 [2:15:42<29:02, 13.51s/it]
 86%|████████▌ | 772/900 [2:15:43<20:22,  9.55s/it]
 86%|████████▌ | 773/900 [2:15:43<14:20,  6.78s/it]
 86%|████████▌ | 774/900 [2:15:43<10:09,  4.84s/it]
 86%|████████▌ | 775/900 [2:15:43<07:14,  3.48s/it]
 86%|████████▌ | 776/900 [2:15:44<05:13,  2.53s/it]
 86%|████████▋ | 777/900 [2:16:39<37:39, 18.37s/it]
 86%|████████▋ | 778/900 [2:16:39<26:20, 12.95s/it]
 87%|████████▋ | 779/900 [2:16:40<18:28,  9.16s/it]
 87%|████████▋ | 780/900 [2:16:40<13:01,  6.51s/it]
 87%|████████▋ | 781/900 [2:16:40<09:13,  4.65s/it]
 87%|████████▋ | 782/900 [2:16:41<06:35,  3.35s/it]
 87%|████████▋ | 783/900 [2:16:41<04:45,  2.44s/it]
 87%|████████▋ | 784/900 [2:16:41<03:28,  1.80s/it]
 87%|████████▋ | 785/900 [2:18:56<1:19:59, 41.74s/it]
 87%|████████▋ | 786/900 [2:18:57<55:41, 29.31s/it]  
 87%|████████▋ | 787/900 [2:18:57<38:49, 20.61s/it]
 88%|████████▊ | 788/900 [2:18:57<27:06, 14.52s/it]
 88%|████████▊ | 789/900 [2:18:58<18:59, 10.26s/it]
 88%|████████▊ | 790/900 [2:18:58<13:20,  7.28s/it]
 88%|████████▊ | 791/900 [2:18:58<09:25,  5.19s/it]
 88%|████████▊ | 792/900 [2:18:58<06:42,  3.73s/it]
 88%|████████▊ | 793/900 [2:22:32<1:59:07, 66.80s/it]
 88%|████████▊ | 794/900 [2:22:33<1:22:46, 46.86s/it]
 88%|████████▊ | 795/900 [2:22:33<57:33, 32.89s/it]  
 88%|████████▊ | 796/900 [2:22:33<40:04, 23.12s/it]
 89%|████████▊ | 797/900 [2:22:34<27:56, 16.28s/it]
 89%|████████▊ | 798/900 [2:22:34<19:31, 11.49s/it]
 89%|████████▉ | 799/900 [2:22:34<13:41,  8.14s/it]
 89%|████████▉ | 800/900 [2:22:35<09:39,  5.80s/it]
 89%|████████▉ | 801/900 [2:23:39<38:33, 23.36s/it]
 89%|████████▉ | 802/900 [2:23:39<26:52, 16.45s/it]
 89%|████████▉ | 803/900 [2:23:40<18:46, 11.62s/it]
 89%|████████▉ | 804/900 [2:23:40<13:10,  8.23s/it]
 89%|████████▉ | 805/900 [2:23:40<09:16,  5.86s/it]
 90%|████████▉ | 806/900 [2:23:41<06:35,  4.20s/it]
 90%|████████▉ | 807/900 [2:23:41<04:42,  3.04s/it]
 90%|████████▉ | 808/900 [2:23:41<03:24,  2.23s/it]
 90%|████████▉ | 809/900 [2:24:59<37:37, 24.81s/it]
 90%|█████████ | 810/900 [2:24:59<26:12, 17.47s/it]
 90%|█████████ | 811/900 [2:24:59<18:17, 12.33s/it]
 90%|█████████ | 812/900 [2:25:00<12:47,  8.73s/it]
 90%|█████████ | 813/900 [2:25:00<09:00,  6.21s/it]
 90%|█████████ | 814/900 [2:25:00<06:22,  4.45s/it]
 91%|█████████ | 815/900 [2:25:01<04:32,  3.21s/it]
 91%|█████████ | 816/900 [2:25:01<03:17,  2.35s/it]
 91%|█████████ | 817/900 [2:27:10<55:47, 40.33s/it]
 91%|█████████ | 818/900 [2:27:10<38:43, 28.33s/it]
 91%|█████████ | 819/900 [2:27:11<26:54, 19.94s/it]
 91%|█████████ | 820/900 [2:27:11<18:44, 14.05s/it]
 91%|█████████ | 821/900 [2:27:11<13:04,  9.93s/it]
 91%|█████████▏| 822/900 [2:27:12<09:09,  7.05s/it]
 91%|█████████▏| 823/900 [2:27:12<06:27,  5.03s/it]
 92%|█████████▏| 824/900 [2:27:12<04:34,  3.61s/it]
 92%|█████████▏| 825/900 [2:29:03<44:41, 35.75s/it]
 92%|█████████▏| 826/900 [2:29:03<30:59, 25.12s/it]
 92%|█████████▏| 827/900 [2:29:04<21:30, 17.68s/it]
 92%|█████████▏| 828/900 [2:29:04<14:57, 12.47s/it]
 92%|█████████▏| 829/900 [2:29:04<10:26,  8.82s/it]
 92%|█████████▏| 830/900 [2:29:05<07:18,  6.27s/it]
 92%|█████████▏| 831/900 [2:29:05<05:09,  4.48s/it]
 92%|█████████▏| 832/900 [2:29:05<03:39,  3.23s/it]
 93%|█████████▎| 833/900 [2:32:01<1:01:23, 54.98s/it]
 93%|█████████▎| 834/900 [2:32:01<42:26, 38.58s/it]  
 93%|█████████▎| 835/900 [2:32:02<29:21, 27.10s/it]
 93%|█████████▎| 836/900 [2:32:02<20:20, 19.06s/it]
 93%|█████████▎| 837/900 [2:32:02<14:06, 13.44s/it]
 93%|█████████▎| 838/900 [2:32:03<09:49,  9.50s/it]
 93%|█████████▎| 839/900 [2:32:03<06:51,  6.75s/it]
 93%|█████████▎| 840/900 [2:32:03<04:48,  4.82s/it]
 93%|█████████▎| 841/900 [2:32:54<18:11, 18.49s/it]
 94%|█████████▎| 842/900 [2:32:54<12:36, 13.04s/it]
 94%|█████████▎| 843/900 [2:32:54<08:45,  9.22s/it]
 94%|█████████▍| 844/900 [2:32:55<06:06,  6.55s/it]
 94%|█████████▍| 845/900 [2:32:55<04:17,  4.68s/it]
 94%|█████████▍| 846/900 [2:32:55<03:02,  3.37s/it]
 94%|█████████▍| 847/900 [2:32:56<02:10,  2.45s/it]
 94%|█████████▍| 848/900 [2:32:56<01:34,  1.81s/it]
 94%|█████████▍| 849/900 [2:34:20<22:39, 26.65s/it]
 94%|█████████▍| 850/900 [2:34:21<15:37, 18.75s/it]
 95%|█████████▍| 851/900 [2:34:21<10:48, 13.23s/it]
 95%|█████████▍| 852/900 [2:34:21<07:29,  9.36s/it]
 95%|█████████▍| 853/900 [2:34:22<05:12,  6.65s/it]
 95%|█████████▍| 854/900 [2:34:22<03:38,  4.76s/it]
 95%|█████████▌| 855/900 [2:34:22<02:34,  3.43s/it]
 95%|█████████▌| 856/900 [2:34:23<01:50,  2.50s/it]
 95%|█████████▌| 857/900 [2:36:31<28:50, 40.24s/it]
 95%|█████████▌| 858/900 [2:36:31<19:47, 28.27s/it]
 95%|█████████▌| 859/900 [2:36:32<13:35, 19.89s/it]
 96%|█████████▌| 860/900 [2:36:32<09:20, 14.02s/it]
 96%|█████████▌| 861/900 [2:36:32<06:26,  9.92s/it]
 96%|█████████▌| 862/900 [2:36:33<04:27,  7.04s/it]
 96%|█████████▌| 863/900 [2:36:33<03:06,  5.03s/it]
 96%|█████████▌| 864/900 [2:36:33<02:10,  3.62s/it]
 96%|█████████▌| 865/900 [2:38:52<25:42, 44.08s/it]
 96%|█████████▌| 866/900 [2:38:52<17:32, 30.95s/it]
 96%|█████████▋| 867/900 [2:38:53<11:57, 21.76s/it]
 96%|█████████▋| 868/900 [2:38:53<08:10, 15.32s/it]
 97%|█████████▋| 869/900 [2:38:53<05:35, 10.82s/it]
 97%|█████████▋| 870/900 [2:38:53<03:50,  7.67s/it]
 97%|█████████▋| 871/900 [2:38:54<02:38,  5.46s/it]
 97%|█████████▋| 872/900 [2:38:54<01:49,  3.91s/it]
 97%|█████████▋| 873/900 [2:40:29<14:06, 31.33s/it]
 97%|█████████▋| 874/900 [2:40:30<09:32, 22.03s/it]
 97%|█████████▋| 875/900 [2:40:30<06:27, 15.51s/it]
 97%|█████████▋| 876/900 [2:40:30<04:22, 10.95s/it]
 97%|█████████▋| 877/900 [2:40:31<02:58,  7.76s/it]
 98%|█████████▊| 878/900 [2:40:31<02:01,  5.53s/it]
 98%|█████████▊| 879/900 [2:40:31<01:23,  3.97s/it]
 98%|█████████▊| 880/900 [2:40:32<00:57,  2.87s/it]
 98%|█████████▊| 881/900 [2:40:33<00:43,  2.28s/it]
 98%|█████████▊| 882/900 [2:40:33<00:30,  1.69s/it]
 98%|█████████▊| 883/900 [2:40:33<00:21,  1.28s/it]
 98%|█████████▊| 884/900 [2:40:33<00:15,  1.01it/s]
 98%|█████████▊| 885/900 [2:40:34<00:11,  1.27it/s]
 98%|█████████▊| 886/900 [2:40:34<00:09,  1.55it/s]
 99%|█████████▊| 887/900 [2:40:34<00:07,  1.84it/s]
 99%|█████████▊| 888/900 [2:40:35<00:05,  2.10it/s]
 99%|█████████▉| 889/900 [2:40:38<00:13,  1.20s/it]
 99%|█████████▉| 890/900 [2:40:38<00:09,  1.07it/s]
 99%|█████████▉| 891/900 [2:40:38<00:06,  1.34it/s]
 99%|█████████▉| 892/900 [2:40:39<00:04,  1.62it/s]
 99%|█████████▉| 893/900 [2:40:39<00:03,  1.90it/s]
 99%|█████████▉| 894/900 [2:40:39<00:02,  2.16it/s]
 99%|█████████▉| 895/900 [2:40:40<00:02,  2.39it/s]
100%|█████████▉| 896/900 [2:40:40<00:01,  2.59it/s]
100%|█████████▉| 897/900 [2:40:44<00:04,  1.66s/it]
100%|█████████▉| 898/900 [2:40:45<00:02,  1.26s/it]
100%|█████████▉| 899/900 [2:40:45<00:00,  1.03it/s]
100%|█████████▉| 899/900 [2:40:45<00:10, 10.73s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json.
+ReorientWhiteMugsTask_2 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_2, run: 2, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.62867136543048, 'joint_sparc_mean': -18.005357840175, 'ee_isj': 3490.4780365338183, 'joint_isj': 236685.64726441045, 'ee_path_length': 6.827456455192279, 'joint_rmse_mean': 1.1483036570276546, 'ee_speed_max': 0.4338569641113281, 'ee_speed_mean': 0.10391591489315033}, events: {'WRONG_OBJECT_GRABBED': 12, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 15, 'OBJECT_BUMPED': 10, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['sideways_white_mug', 'red_mug', 'sideways_white_mug', 'red_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 9380.473, 'policy_inference_avg_ms': 10422.7, 'env_step_s': 258.344, 'env_step_avg_ms': 287.0, 'video_write_s': 6.572, 'video_write_avg_ms': 7.3, 'wall_total_s': 9645.389, 'it_per_sec': 0.09}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: cce4440c7467403e91e5df1a76859556-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T15:43:24Z [22,914,549ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.249537 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T15:43:28Z [22,918,759ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T15:43:28Z [22,918,759ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T15:43:28Z [22,918,768ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T15:43:28Z [22,918,769ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T15:43:28Z [22,918,777ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T15:43:28Z [22,918,784ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T15:43:28Z [22,918,801ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-02T15:43:31Z [22,921,407ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-11-02T15:43:31Z [22,921,408ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-11-02T15:43:31Z [22,921,408ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,158ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,159ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,159ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,241ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,241ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,449ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,449ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,460ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((435))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,460ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((435))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,475ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((438))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,475ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((438))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,476ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((438))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,478ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,478ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,499ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,499ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-02T15:43:32Z [22,922,499ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,205ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,205ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,205ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,206ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,206ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,207ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,208ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,208ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,209ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,209ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((429))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,210ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((438))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,211ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((438))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,211ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((438))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,211ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,211ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,212ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,212ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-02T15:43:33Z [22,923,212ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.526664 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : TakeSpatulaOffShelfTask                       │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Take the spatula off the shelf and put it on the table │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : TakeSpatulaOffShelfTaskSceneEnvCfg            │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running TakeSpatulaOffShelfTask_0: 'Take the spatula off the shelf and put it on the table' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:45<11:20:18, 45.40s/it]
  0%|          | 2/900 [00:45<4:43:15, 18.93s/it] 
  0%|          | 3/900 [00:46<2:36:08, 10.44s/it]
  0%|          | 4/900 [00:46<1:36:22,  6.45s/it]
  1%|          | 5/900 [00:46<1:03:24,  4.25s/it]
  1%|          | 6/900 [00:47<43:30,  2.92s/it]  
  1%|          | 7/900 [00:47<30:53,  2.08s/it]
  1%|          | 8/900 [00:47<22:36,  1.52s/it]
  1%|          | 9/900 [00:58<1:04:08,  4.32s/it]
  1%|          | 10/900 [00:58<45:48,  3.09s/it] 
  1%|          | 11/900 [00:58<33:16,  2.25s/it]
  1%|▏         | 12/900 [00:59<24:36,  1.66s/it]
  1%|▏         | 13/900 [00:59<18:41,  1.26s/it]
  2%|▏         | 14/900 [01:00<14:38,  1.01it/s]
  2%|▏         | 15/900 [01:00<11:48,  1.25it/s]
  2%|▏         | 16/900 [01:00<09:49,  1.50it/s]
  2%|▏         | 17/900 [01:12<1:00:11,  4.09s/it]
  2%|▏         | 18/900 [01:13<43:37,  2.97s/it]  
  2%|▏         | 19/900 [01:13<32:04,  2.18s/it]
  2%|▏         | 20/900 [01:13<23:58,  1.64s/it]
  2%|▏         | 21/900 [01:14<18:21,  1.25s/it]
  2%|▏         | 22/900 [01:14<14:23,  1.02it/s]
  3%|▎         | 23/900 [01:14<11:36,  1.26it/s]
  3%|▎         | 24/900 [01:15<09:39,  1.51it/s]
  3%|▎         | 25/900 [01:24<48:09,  3.30s/it]
  3%|▎         | 26/900 [01:25<35:14,  2.42s/it]
  3%|▎         | 27/900 [01:25<26:13,  1.80s/it]
  3%|▎         | 28/900 [01:25<19:55,  1.37s/it]
  3%|▎         | 29/900 [01:26<15:30,  1.07s/it]
  3%|▎         | 30/900 [01:26<12:24,  1.17it/s]
  3%|▎         | 31/900 [01:26<10:14,  1.41it/s]
  4%|▎         | 32/900 [01:27<08:43,  1.66it/s]
  4%|▎         | 33/900 [01:39<58:16,  4.03s/it]
  4%|▍         | 34/900 [01:39<42:15,  2.93s/it]
  4%|▍         | 35/900 [01:39<31:01,  2.15s/it]
  4%|▍         | 36/900 [01:40<23:08,  1.61s/it]
  4%|▍         | 37/900 [01:40<17:38,  1.23s/it]
  4%|▍         | 38/900 [01:41<13:47,  1.04it/s]
  4%|▍         | 39/900 [01:41<11:04,  1.30it/s]
  4%|▍         | 40/900 [01:41<09:11,  1.56it/s]
  5%|▍         | 41/900 [02:58<5:37:18, 23.56s/it]
  5%|▍         | 42/900 [02:59<3:57:19, 16.60s/it]
  5%|▍         | 43/900 [02:59<2:47:25, 11.72s/it]
  5%|▍         | 44/900 [02:59<1:58:32,  8.31s/it]
  5%|▌         | 45/900 [03:00<1:24:22,  5.92s/it]
  5%|▌         | 46/900 [03:00<1:00:28,  4.25s/it]
  5%|▌         | 47/900 [03:00<43:44,  3.08s/it]  
  5%|▌         | 48/900 [03:01<32:04,  2.26s/it]
  5%|▌         | 49/900 [03:25<2:07:46,  9.01s/it]
  6%|▌         | 50/900 [03:26<1:30:47,  6.41s/it]
  6%|▌         | 51/900 [03:26<1:04:56,  4.59s/it]
  6%|▌         | 52/900 [03:26<46:52,  3.32s/it]  
  6%|▌         | 53/900 [03:27<34:13,  2.42s/it]
  6%|▌         | 54/900 [03:27<25:21,  1.80s/it]
  6%|▌         | 55/900 [03:27<19:11,  1.36s/it]
  6%|▌         | 56/900 [03:28<14:52,  1.06s/it]
  6%|▋         | 57/900 [03:59<2:21:01, 10.04s/it]
  6%|▋         | 58/900 [03:59<1:40:03,  7.13s/it]
  7%|▋         | 59/900 [03:59<1:11:23,  5.09s/it]
  7%|▋         | 60/900 [04:00<51:20,  3.67s/it]  
  7%|▋         | 61/900 [04:00<37:19,  2.67s/it]
  7%|▋         | 62/900 [04:01<27:34,  1.97s/it]
  7%|▋         | 63/900 [04:01<20:56,  1.50s/it]
  7%|▋         | 64/900 [04:01<16:06,  1.16s/it]
  7%|▋         | 65/900 [04:32<2:21:32, 10.17s/it]
  7%|▋         | 66/900 [04:33<1:40:22,  7.22s/it]
  7%|▋         | 67/900 [04:33<1:11:35,  5.16s/it]
  8%|▊         | 68/900 [04:33<51:29,  3.71s/it]  
  8%|▊         | 69/900 [04:34<37:27,  2.70s/it]
  8%|▊         | 70/900 [04:34<27:38,  2.00s/it]
  8%|▊         | 71/900 [04:35<20:45,  1.50s/it]
  8%|▊         | 72/900 [04:35<15:55,  1.15s/it]
  8%|▊         | 73/900 [05:10<2:35:48, 11.30s/it]
  8%|▊         | 74/900 [05:10<1:50:20,  8.02s/it]
  8%|▊         | 75/900 [05:11<1:18:33,  5.71s/it]
  8%|▊         | 76/900 [05:11<56:20,  4.10s/it]  
  9%|▊         | 77/900 [05:11<40:47,  2.97s/it]
  9%|▊         | 78/900 [05:12<29:56,  2.19s/it]
  9%|▉         | 79/900 [05:12<22:18,  1.63s/it]
  9%|▉         | 80/900 [05:12<17:00,  1.24s/it]
  9%|▉         | 81/900 [05:43<2:18:26, 10.14s/it]
  9%|▉         | 82/900 [05:44<1:38:11,  7.20s/it]
  9%|▉         | 83/900 [05:44<1:10:02,  5.14s/it]
  9%|▉         | 84/900 [05:44<50:22,  3.70s/it]  
  9%|▉         | 85/900 [05:45<36:37,  2.70s/it]
 10%|▉         | 86/900 [05:45<27:00,  1.99s/it]
 10%|▉         | 87/900 [05:45<20:16,  1.50s/it]
 10%|▉         | 88/900 [05:46<15:36,  1.15s/it]
 10%|▉         | 89/900 [06:10<1:48:33,  8.03s/it]
 10%|█         | 90/900 [06:10<1:17:18,  5.73s/it]
 10%|█         | 91/900 [06:10<55:26,  4.11s/it]  
 10%|█         | 92/900 [06:11<40:08,  2.98s/it]
 10%|█         | 93/900 [06:11<29:27,  2.19s/it]
 10%|█         | 94/900 [06:11<21:59,  1.64s/it]
 11%|█         | 95/900 [06:12<16:45,  1.25s/it]
 11%|█         | 96/900 [06:12<13:06,  1.02it/s]
 11%|█         | 97/900 [06:27<1:08:33,  5.12s/it]
 11%|█         | 98/900 [06:27<49:17,  3.69s/it]  
 11%|█         | 99/900 [06:28<35:50,  2.69s/it]
 11%|█         | 100/900 [06:28<26:26,  1.98s/it]
 11%|█         | 101/900 [06:28<19:51,  1.49s/it]
 11%|█▏        | 102/900 [06:29<15:15,  1.15s/it]
 11%|█▏        | 103/900 [06:29<12:02,  1.10it/s]
 12%|█▏        | 104/900 [06:29<09:46,  1.36it/s]
 12%|█▏        | 105/900 [07:05<2:28:45, 11.23s/it]
 12%|█▏        | 106/900 [07:05<1:45:21,  7.96s/it]
 12%|█▏        | 107/900 [07:06<1:14:59,  5.67s/it]
 12%|█▏        | 108/900 [07:06<53:46,  4.07s/it]  
 12%|█▏        | 109/900 [07:06<38:57,  2.96s/it]
 12%|█▏        | 110/900 [07:07<28:35,  2.17s/it]
 12%|█▏        | 111/900 [07:07<21:21,  1.62s/it]
 12%|█▏        | 112/900 [07:07<16:17,  1.24s/it]
 13%|█▎        | 113/900 [07:39<2:15:45, 10.35s/it]
 13%|█▎        | 114/900 [07:39<1:36:16,  7.35s/it]
 13%|█▎        | 115/900 [07:40<1:08:42,  5.25s/it]
 13%|█▎        | 116/900 [07:40<49:25,  3.78s/it]  
 13%|█▎        | 117/900 [07:40<35:56,  2.75s/it]
 13%|█▎        | 118/900 [07:41<26:31,  2.04s/it]
 13%|█▎        | 119/900 [07:41<19:57,  1.53s/it]
 13%|█▎        | 120/900 [07:41<15:21,  1.18s/it]
 13%|█▎        | 121/900 [08:07<1:50:28,  8.51s/it]
 14%|█▎        | 122/900 [08:07<1:18:37,  6.06s/it]
 14%|█▎        | 123/900 [08:08<56:21,  4.35s/it]  
 14%|█▍        | 124/900 [08:08<40:47,  3.15s/it]
 14%|█▍        | 125/900 [08:09<29:53,  2.31s/it]
 14%|█▍        | 126/900 [08:09<22:16,  1.73s/it]
 14%|█▍        | 127/900 [08:09<16:56,  1.32s/it]
 14%|█▍        | 128/900 [08:10<13:12,  1.03s/it]
 14%|█▍        | 129/900 [09:42<6:04:31, 28.37s/it]
 14%|█▍        | 130/900 [09:42<4:16:11, 19.96s/it]
 15%|█▍        | 131/900 [09:42<3:00:26, 14.08s/it]
 15%|█▍        | 132/900 [09:43<2:07:28,  9.96s/it]
 15%|█▍        | 133/900 [09:43<1:30:25,  7.07s/it]
 15%|█▍        | 134/900 [09:43<1:04:37,  5.06s/it]
 15%|█▌        | 135/900 [09:44<46:30,  3.65s/it]  
 15%|█▌        | 136/900 [09:44<33:49,  2.66s/it]
 15%|█▌        | 137/900 [10:24<2:55:58, 13.84s/it]
 15%|█▌        | 138/900 [10:24<2:04:19,  9.79s/it]
 15%|█▌        | 139/900 [10:25<1:28:13,  6.96s/it]
 16%|█▌        | 140/900 [10:25<1:02:58,  4.97s/it]
 16%|█▌        | 141/900 [10:25<45:18,  3.58s/it]  
 16%|█▌        | 142/900 [10:26<32:57,  2.61s/it]
 16%|█▌        | 143/900 [10:26<24:20,  1.93s/it]
 16%|█▌        | 144/900 [10:27<18:20,  1.46s/it]
 16%|█▌        | 145/900 [10:55<1:59:55,  9.53s/it]
 16%|█▌        | 146/900 [10:55<1:25:07,  6.77s/it]
 16%|█▋        | 147/900 [10:56<1:00:47,  4.84s/it]
 16%|█▋        | 148/900 [10:56<43:47,  3.49s/it]  
 17%|█▋        | 149/900 [10:56<31:54,  2.55s/it]
 17%|█▋        | 150/900 [10:57<23:36,  1.89s/it]
 17%|█▋        | 151/900 [10:57<17:47,  1.43s/it]
 17%|█▋        | 152/900 [10:57<13:43,  1.10s/it]
 17%|█▋        | 153/900 [11:33<2:24:30, 11.61s/it]
 17%|█▋        | 154/900 [11:34<1:42:17,  8.23s/it]
 17%|█▋        | 155/900 [11:34<1:12:46,  5.86s/it]
 17%|█▋        | 156/900 [11:34<52:08,  4.21s/it]  
 17%|█▋        | 157/900 [11:35<37:43,  3.05s/it]
 18%|█▊        | 158/900 [11:35<27:39,  2.24s/it]
 18%|█▊        | 159/900 [11:35<20:36,  1.67s/it]
 18%|█▊        | 160/900 [11:36<15:38,  1.27s/it]
 18%|█▊        | 161/900 [12:11<2:20:59, 11.45s/it]
 18%|█▊        | 162/900 [12:11<1:39:53,  8.12s/it]
 18%|█▊        | 163/900 [12:12<1:11:09,  5.79s/it]
 18%|█▊        | 164/900 [12:12<51:05,  4.16s/it]  
 18%|█▊        | 165/900 [12:12<37:01,  3.02s/it]
 18%|█▊        | 166/900 [12:13<27:12,  2.22s/it]
 19%|█▊        | 167/900 [12:13<20:19,  1.66s/it]
 19%|█▊        | 168/900 [12:14<15:31,  1.27s/it]
 19%|█▉        | 169/900 [12:59<2:58:46, 14.67s/it]
 19%|█▉        | 170/900 [13:00<2:06:18, 10.38s/it]
 19%|█▉        | 171/900 [13:00<1:29:36,  7.38s/it]
 19%|█▉        | 172/900 [13:01<1:03:58,  5.27s/it]
 19%|█▉        | 173/900 [13:01<46:03,  3.80s/it]  
 19%|█▉        | 174/900 [13:01<33:32,  2.77s/it]
 19%|█▉        | 175/900 [13:02<24:46,  2.05s/it]
 20%|█▉        | 176/900 [13:02<18:39,  1.55s/it]
 20%|█▉        | 177/900 [13:55<3:25:19, 17.04s/it]
 20%|█▉        | 178/900 [13:56<2:24:56, 12.04s/it]
 20%|█▉        | 179/900 [13:56<1:42:42,  8.55s/it]
 20%|██        | 180/900 [13:56<1:13:09,  6.10s/it]
 20%|██        | 181/900 [13:57<52:31,  4.38s/it]  
 20%|██        | 182/900 [13:57<38:04,  3.18s/it]
 20%|██        | 183/900 [13:58<27:57,  2.34s/it]
 20%|██        | 184/900 [13:58<20:54,  1.75s/it]
 21%|██        | 185/900 [14:20<1:35:22,  8.00s/it]
 21%|██        | 186/900 [14:21<1:07:59,  5.71s/it]
 21%|██        | 187/900 [14:21<48:50,  4.11s/it]  
 21%|██        | 188/900 [14:22<35:27,  2.99s/it]
 21%|██        | 189/900 [14:22<26:06,  2.20s/it]
 21%|██        | 190/900 [14:22<19:32,  1.65s/it]
 21%|██        | 191/900 [14:23<14:58,  1.27s/it]
 21%|██▏       | 192/900 [14:23<11:45,  1.00it/s]
 21%|██▏       | 193/900 [14:48<1:36:58,  8.23s/it]
 22%|██▏       | 194/900 [14:49<1:09:06,  5.87s/it]
 22%|██▏       | 195/900 [14:49<49:39,  4.23s/it]  
 22%|██▏       | 196/900 [14:49<36:01,  3.07s/it]
 22%|██▏       | 197/900 [14:50<26:30,  2.26s/it]
 22%|██▏       | 198/900 [14:50<19:50,  1.70s/it]
 22%|██▏       | 199/900 [14:50<15:10,  1.30s/it]
 22%|██▏       | 200/900 [14:51<11:53,  1.02s/it]
 22%|██▏       | 201/900 [15:31<2:28:32, 12.75s/it]
 22%|██▏       | 202/900 [15:31<1:45:08,  9.04s/it]
 23%|██▎       | 203/900 [15:32<1:14:47,  6.44s/it]
 23%|██▎       | 204/900 [15:32<53:34,  4.62s/it]  
 23%|██▎       | 205/900 [15:32<38:44,  3.34s/it]
 23%|██▎       | 206/900 [15:33<28:22,  2.45s/it]
 23%|██▎       | 207/900 [15:33<21:07,  1.83s/it]
 23%|██▎       | 208/900 [15:34<16:01,  1.39s/it]
 23%|██▎       | 209/900 [16:21<2:54:50, 15.18s/it]
 23%|██▎       | 210/900 [16:21<2:03:29, 10.74s/it]
 23%|██▎       | 211/900 [16:22<1:27:34,  7.63s/it]
 24%|██▎       | 212/900 [16:22<1:02:29,  5.45s/it]
 24%|██▎       | 213/900 [16:22<44:56,  3.92s/it]  
 24%|██▍       | 214/900 [16:23<32:40,  2.86s/it]
 24%|██▍       | 215/900 [16:23<24:05,  2.11s/it]
 24%|██▍       | 216/900 [16:23<18:05,  1.59s/it]
 24%|██▍       | 217/900 [17:17<3:16:37, 17.27s/it]
 24%|██▍       | 218/900 [17:18<2:18:42, 12.20s/it]
 24%|██▍       | 219/900 [17:18<1:38:12,  8.65s/it]
 24%|██▍       | 220/900 [17:18<1:09:55,  6.17s/it]
 25%|██▍       | 221/900 [17:19<50:08,  4.43s/it]  
 25%|██▍       | 222/900 [17:19<36:18,  3.21s/it]
 25%|██▍       | 223/900 [17:20<26:38,  2.36s/it]
 25%|██▍       | 224/900 [17:20<19:52,  1.76s/it]
 25%|██▌       | 225/900 [18:10<3:03:42, 16.33s/it]
 25%|██▌       | 226/900 [18:11<2:09:41, 11.55s/it]
 25%|██▌       | 227/900 [18:11<1:31:55,  8.19s/it]
 25%|██▌       | 228/900 [18:11<1:05:29,  5.85s/it]
 25%|██▌       | 229/900 [18:12<47:01,  4.21s/it]  
 26%|██▌       | 230/900 [18:12<34:06,  3.05s/it]
 26%|██▌       | 231/900 [18:13<25:05,  2.25s/it]
 26%|██▌       | 232/900 [18:13<18:46,  1.69s/it]
 26%|██▌       | 233/900 [19:06<3:10:30, 17.14s/it]
 26%|██▌       | 234/900 [19:06<2:14:25, 12.11s/it]
 26%|██▌       | 235/900 [19:07<1:35:12,  8.59s/it]
 26%|██▌       | 236/900 [19:07<1:07:47,  6.13s/it]
 26%|██▋       | 237/900 [19:08<48:35,  4.40s/it]  
 26%|██▋       | 238/900 [19:08<35:11,  3.19s/it]
 27%|██▋       | 239/900 [19:08<25:48,  2.34s/it]
 27%|██▋       | 240/900 [19:09<19:15,  1.75s/it]
 27%|██▋       | 241/900 [20:42<5:20:16, 29.16s/it]
 27%|██▋       | 242/900 [20:42<3:45:05, 20.53s/it]
 27%|██▋       | 243/900 [20:43<2:38:34, 14.48s/it]
 27%|██▋       | 244/900 [20:43<1:52:03, 10.25s/it]
 27%|██▋       | 245/900 [20:43<1:19:34,  7.29s/it]
 27%|██▋       | 246/900 [20:44<56:53,  5.22s/it]  
 27%|██▋       | 247/900 [20:44<41:03,  3.77s/it]
 28%|██▊       | 248/900 [20:44<29:56,  2.76s/it]
 28%|██▊       | 249/900 [21:11<1:47:57,  9.95s/it]
 28%|██▊       | 249/900 [21:12<55:26,  5.11s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json.
+TakeSpatulaOffShelfTask_0 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_0, run: 0, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 250, duration: 16.666666666666668, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.077566176854188, 'joint_sparc_mean': -7.447174004678737, 'ee_isj': 2093.648931261285, 'joint_isj': 86522.9107259606, 'ee_path_length': 2.5593980936214322, 'joint_rmse_mean': 1.0936573695651663, 'ee_speed_max': 0.4263836145401001, 'ee_speed_mean': 0.14313535392284393}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 5, 'WRONG_OBJECT_GRABBED': 1, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'TARGET_OBJECT_DROPPED': 3, 'wrong_objects_grabbed': ['fork_small']}, instruction_type: default, timing: {'policy_inference_s': 1189.045, 'policy_inference_avg_ms': 4756.2, 'env_step_s': 80.54, 'env_step_avg_ms': 322.2, 'video_write_s': 2.385, 'video_write_avg_ms': 9.5, 'wall_total_s': 1271.971, 'it_per_sec': 0.2}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 3a9891d9aafc4a9b815c949e5aab968f-0
+[RoboLab] Running TakeSpatulaOffShelfTask_1: 'Take the spatula off the shelf and put it on the table' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:00<15:11:20, 60.82s/it]
  0%|          | 2/900 [01:01<6:17:54, 25.25s/it] 
  0%|          | 3/900 [01:01<3:27:26, 13.88s/it]
  0%|          | 4/900 [01:01<2:07:24,  8.53s/it]
  1%|          | 5/900 [01:02<1:23:13,  5.58s/it]
  1%|          | 6/900 [01:02<56:43,  3.81s/it]  
  1%|          | 7/900 [01:02<39:54,  2.68s/it]
  1%|          | 8/900 [01:03<28:55,  1.95s/it]
  1%|          | 9/900 [01:17<1:26:29,  5.82s/it]
  1%|          | 10/900 [01:18<1:01:26,  4.14s/it]
  1%|          | 11/900 [01:18<44:15,  2.99s/it]  
  1%|▏         | 12/900 [01:18<32:25,  2.19s/it]
  1%|▏         | 13/900 [01:19<24:12,  1.64s/it]
  2%|▏         | 14/900 [01:19<18:29,  1.25s/it]
  2%|▏         | 15/900 [01:19<14:31,  1.02it/s]
  2%|▏         | 16/900 [01:20<11:45,  1.25it/s]
  2%|▏         | 17/900 [01:37<1:25:47,  5.83s/it]
  2%|▏         | 18/900 [01:38<1:01:34,  4.19s/it]
  2%|▏         | 19/900 [01:38<44:32,  3.03s/it]  
  2%|▏         | 20/900 [01:38<32:37,  2.22s/it]
  2%|▏         | 21/900 [01:39<24:18,  1.66s/it]
  2%|▏         | 22/900 [01:39<18:28,  1.26s/it]
  3%|▎         | 23/900 [01:39<14:24,  1.01it/s]
  3%|▎         | 24/900 [01:40<11:34,  1.26it/s]
  3%|▎         | 25/900 [01:50<54:24,  3.73s/it]
  3%|▎         | 26/900 [01:51<39:32,  2.71s/it]
  3%|▎         | 27/900 [01:51<29:08,  2.00s/it]
  3%|▎         | 28/900 [01:51<21:51,  1.50s/it]
  3%|▎         | 29/900 [01:52<16:45,  1.15s/it]
  3%|▎         | 30/900 [01:52<13:12,  1.10it/s]
  3%|▎         | 31/900 [01:52<10:42,  1.35it/s]
  4%|▎         | 32/900 [01:53<08:57,  1.61it/s]
  4%|▎         | 33/900 [02:18<1:56:29,  8.06s/it]
  4%|▍         | 34/900 [02:18<1:22:55,  5.75s/it]
  4%|▍         | 35/900 [02:19<59:27,  4.12s/it]  
  4%|▍         | 36/900 [02:19<43:02,  2.99s/it]
  4%|▍         | 37/900 [02:19<31:34,  2.19s/it]
  4%|▍         | 38/900 [02:20<23:32,  1.64s/it]
  4%|▍         | 39/900 [02:20<17:55,  1.25s/it]
  4%|▍         | 40/900 [02:20<14:00,  1.02it/s]
  5%|▍         | 41/900 [02:50<2:15:40,  9.48s/it]
  5%|▍         | 42/900 [02:50<1:36:19,  6.74s/it]
  5%|▍         | 43/900 [02:50<1:08:47,  4.82s/it]
  5%|▍         | 44/900 [02:51<49:32,  3.47s/it]  
  5%|▌         | 45/900 [02:51<36:06,  2.53s/it]
  5%|▌         | 46/900 [02:51<26:42,  1.88s/it]
  5%|▌         | 47/900 [02:52<20:07,  1.42s/it]
  5%|▌         | 48/900 [02:52<15:31,  1.09s/it]
  5%|▌         | 49/900 [03:22<2:19:59,  9.87s/it]
  6%|▌         | 50/900 [03:23<1:39:20,  7.01s/it]
  6%|▌         | 51/900 [03:23<1:10:54,  5.01s/it]
  6%|▌         | 52/900 [03:24<51:01,  3.61s/it]  
  6%|▌         | 53/900 [03:24<37:06,  2.63s/it]
  6%|▌         | 54/900 [03:24<27:22,  1.94s/it]
  6%|▌         | 55/900 [03:25<20:34,  1.46s/it]
  6%|▌         | 56/900 [03:25<15:49,  1.12s/it]
  6%|▋         | 57/900 [03:45<1:35:37,  6.81s/it]
  6%|▋         | 58/900 [03:45<1:08:18,  4.87s/it]
  7%|▋         | 59/900 [03:46<49:13,  3.51s/it]  
  7%|▋         | 60/900 [03:46<35:50,  2.56s/it]
  7%|▋         | 61/900 [03:46<26:30,  1.90s/it]
  7%|▋         | 62/900 [03:47<19:57,  1.43s/it]
  7%|▋         | 63/900 [03:47<15:22,  1.10s/it]
  7%|▋         | 64/900 [03:47<12:11,  1.14it/s]
  7%|▋         | 65/900 [04:17<2:14:09,  9.64s/it]
  7%|▋         | 66/900 [04:18<1:35:22,  6.86s/it]
  7%|▋         | 67/900 [04:18<1:08:16,  4.92s/it]
  8%|▊         | 68/900 [04:19<49:15,  3.55s/it]  
  8%|▊         | 69/900 [04:19<35:57,  2.60s/it]
  8%|▊         | 70/900 [04:19<26:40,  1.93s/it]
  8%|▊         | 71/900 [04:20<20:10,  1.46s/it]
  8%|▊         | 72/900 [04:20<15:37,  1.13s/it]
  8%|▊         | 73/900 [05:07<3:26:44, 15.00s/it]
  8%|▊         | 74/900 [05:08<2:26:05, 10.61s/it]
  8%|▊         | 75/900 [05:08<1:43:40,  7.54s/it]
  8%|▊         | 76/900 [05:08<1:13:59,  5.39s/it]
  9%|▊         | 77/900 [05:09<53:13,  3.88s/it]  
  9%|▊         | 78/900 [05:09<38:43,  2.83s/it]
  9%|▉         | 79/900 [05:10<28:34,  2.09s/it]
  9%|▉         | 80/900 [05:10<21:28,  1.57s/it]
  9%|▉         | 81/900 [05:43<2:29:03, 10.92s/it]
  9%|▉         | 82/900 [05:43<1:45:42,  7.75s/it]
  9%|▉         | 83/900 [05:43<1:15:24,  5.54s/it]
  9%|▉         | 84/900 [05:44<54:12,  3.99s/it]  
  9%|▉         | 85/900 [05:44<39:23,  2.90s/it]
 10%|▉         | 86/900 [05:45<29:01,  2.14s/it]
 10%|▉         | 87/900 [05:45<21:46,  1.61s/it]
 10%|▉         | 88/900 [05:45<16:41,  1.23s/it]
 10%|▉         | 89/900 [06:31<3:18:10, 14.66s/it]
 10%|█         | 90/900 [06:32<2:20:03, 10.37s/it]
 10%|█         | 91/900 [06:32<1:39:24,  7.37s/it]
 10%|█         | 92/900 [06:32<1:10:58,  5.27s/it]
 10%|█         | 93/900 [06:33<51:06,  3.80s/it]  
 10%|█         | 94/900 [06:33<37:11,  2.77s/it]
 11%|█         | 95/900 [06:33<27:29,  2.05s/it]
 11%|█         | 96/900 [06:34<20:41,  1.54s/it]
 11%|█         | 97/900 [07:12<2:48:13, 12.57s/it]
 11%|█         | 98/900 [07:12<1:59:04,  8.91s/it]
 11%|█         | 99/900 [07:13<1:24:43,  6.35s/it]
 11%|█         | 100/900 [07:13<1:00:42,  4.55s/it]
 11%|█         | 101/900 [07:14<43:54,  3.30s/it]  
 11%|█▏        | 102/900 [07:14<32:09,  2.42s/it]
 11%|█▏        | 103/900 [07:14<23:55,  1.80s/it]
 12%|█▏        | 104/900 [07:15<18:11,  1.37s/it]
 12%|█▏        | 105/900 [07:42<2:02:01,  9.21s/it]
 12%|█▏        | 106/900 [07:43<1:26:47,  6.56s/it]
 12%|█▏        | 107/900 [07:43<1:02:08,  4.70s/it]
 12%|█▏        | 108/900 [07:43<44:54,  3.40s/it]  
 12%|█▏        | 109/900 [07:44<32:50,  2.49s/it]
 12%|█▏        | 110/900 [07:44<24:25,  1.85s/it]
 12%|█▏        | 111/900 [07:44<18:30,  1.41s/it]
 12%|█▏        | 112/900 [07:45<14:23,  1.10s/it]
 12%|█▏        | 112/900 [08:25<59:16,  4.51s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json.
+TakeSpatulaOffShelfTask_1 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_1, run: 1, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 113, duration: 7.533333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.252677056460826, 'joint_sparc_mean': -5.481838454742499, 'ee_isj': 1098.978830086051, 'joint_isj': 42037.68436356196, 'ee_path_length': 1.3676569738190985, 'joint_rmse_mean': 0.9912487300252424, 'ee_speed_max': 0.441388875246048, 'ee_speed_mean': 0.166225403547287}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 467.671, 'policy_inference_avg_ms': 4138.7, 'env_step_s': 36.361, 'env_step_avg_ms': 321.8, 'video_write_s': 1.405, 'video_write_avg_ms': 12.4, 'wall_total_s': 505.437, 'it_per_sec': 0.22}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 4cb946fa8de34d0c917ef53395f5e54a-1
+[RoboLab] Running TakeSpatulaOffShelfTask_2: 'Take the spatula off the shelf and put it on the table' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:37<9:24:41, 37.69s/it]
  0%|          | 2/900 [00:38<3:55:21, 15.73s/it]
  0%|          | 3/900 [00:38<2:10:11,  8.71s/it]
  0%|          | 4/900 [00:38<1:21:05,  5.43s/it]
  1%|          | 5/900 [00:39<53:41,  3.60s/it]  
  1%|          | 6/900 [00:39<37:15,  2.50s/it]
  1%|          | 7/900 [00:39<26:50,  1.80s/it]
  1%|          | 8/900 [00:40<20:00,  1.35s/it]
  1%|          | 9/900 [00:49<56:09,  3.78s/it]
  1%|          | 10/900 [00:49<40:31,  2.73s/it]
  1%|          | 11/900 [00:50<29:43,  2.01s/it]
  1%|▏         | 12/900 [00:50<22:20,  1.51s/it]
  1%|▏         | 13/900 [00:50<17:11,  1.16s/it]
  2%|▏         | 14/900 [00:51<13:37,  1.08it/s]
  2%|▏         | 15/900 [00:51<11:07,  1.33it/s]
  2%|▏         | 16/900 [00:51<09:22,  1.57it/s]
  2%|▏         | 17/900 [01:14<1:47:14,  7.29s/it]
  2%|▏         | 18/900 [01:15<1:16:31,  5.21s/it]
  2%|▏         | 19/900 [01:15<55:04,  3.75s/it]  
  2%|▏         | 20/900 [01:15<40:04,  2.73s/it]
  2%|▏         | 21/900 [01:16<29:35,  2.02s/it]
  2%|▏         | 22/900 [01:16<22:16,  1.52s/it]
  3%|▎         | 23/900 [01:16<17:07,  1.17s/it]
  3%|▎         | 24/900 [01:17<13:33,  1.08it/s]
  3%|▎         | 25/900 [02:08<3:54:33, 16.08s/it]
  3%|▎         | 26/900 [02:09<2:45:36, 11.37s/it]
  3%|▎         | 27/900 [02:09<1:57:26,  8.07s/it]
  3%|▎         | 28/900 [02:09<1:23:46,  5.76s/it]
  3%|▎         | 29/900 [02:10<1:00:11,  4.15s/it]
  3%|▎         | 30/900 [02:10<43:43,  3.02s/it]  
  3%|▎         | 31/900 [02:10<32:10,  2.22s/it]
  4%|▎         | 32/900 [02:11<24:05,  1.67s/it]
  4%|▎         | 33/900 [03:14<4:52:26, 20.24s/it]
  4%|▍         | 34/900 [03:15<3:25:57, 14.27s/it]
  4%|▍         | 35/900 [03:15<2:25:29, 10.09s/it]
  4%|▍         | 36/900 [03:15<1:43:11,  7.17s/it]
  4%|▍         | 37/900 [03:16<1:13:35,  5.12s/it]
  4%|▍         | 38/900 [03:16<52:55,  3.68s/it]  
  4%|▍         | 39/900 [03:16<38:27,  2.68s/it]
  4%|▍         | 40/900 [03:17<28:21,  1.98s/it]
  5%|▍         | 41/900 [03:48<2:33:28, 10.72s/it]
  5%|▍         | 42/900 [03:48<1:48:45,  7.61s/it]
  5%|▍         | 43/900 [03:49<1:17:29,  5.43s/it]
  5%|▍         | 44/900 [03:49<55:38,  3.90s/it]  
  5%|▌         | 45/900 [03:49<40:21,  2.83s/it]
  5%|▌         | 46/900 [03:50<29:39,  2.08s/it]
  5%|▌         | 47/900 [03:50<22:11,  1.56s/it]
  5%|▌         | 48/900 [03:50<16:57,  1.19s/it]
  5%|▌         | 49/900 [03:59<50:57,  3.59s/it]
  6%|▌         | 50/900 [04:00<37:05,  2.62s/it]
  6%|▌         | 51/900 [04:00<27:26,  1.94s/it]
  6%|▌         | 52/900 [04:00<20:43,  1.47s/it]
  6%|▌         | 53/900 [04:01<16:03,  1.14s/it]
  6%|▌         | 54/900 [04:01<12:47,  1.10it/s]
  6%|▌         | 55/900 [04:02<10:30,  1.34it/s]
  6%|▌         | 56/900 [04:02<08:54,  1.58it/s]
  6%|▋         | 57/900 [04:14<55:16,  3.93s/it]
  6%|▋         | 58/900 [04:14<40:09,  2.86s/it]
  7%|▋         | 59/900 [04:14<29:36,  2.11s/it]
  7%|▋         | 60/900 [04:15<22:13,  1.59s/it]
  7%|▋         | 61/900 [04:15<17:03,  1.22s/it]
  7%|▋         | 62/900 [04:15<13:27,  1.04it/s]
  7%|▋         | 63/900 [04:16<10:57,  1.27it/s]
  7%|▋         | 64/900 [04:16<09:14,  1.51it/s]
  7%|▋         | 65/900 [05:00<3:10:54, 13.72s/it]
  7%|▋         | 66/900 [05:01<2:15:01,  9.71s/it]
  7%|▋         | 67/900 [05:01<1:35:58,  6.91s/it]
  8%|▊         | 68/900 [05:01<1:08:39,  4.95s/it]
  8%|▊         | 69/900 [05:02<49:33,  3.58s/it]  
  8%|▊         | 70/900 [05:02<36:11,  2.62s/it]
  8%|▊         | 71/900 [05:03<26:51,  1.94s/it]
  8%|▊         | 72/900 [05:03<20:19,  1.47s/it]
  8%|▊         | 73/900 [05:44<3:05:44, 13.48s/it]
  8%|▊         | 74/900 [05:45<2:11:24,  9.55s/it]
  8%|▊         | 75/900 [05:45<1:33:23,  6.79s/it]
  8%|▊         | 76/900 [05:46<1:06:47,  4.86s/it]
  9%|▊         | 77/900 [05:46<48:10,  3.51s/it]  
  9%|▊         | 78/900 [05:46<35:08,  2.56s/it]
  9%|▉         | 79/900 [05:47<25:57,  1.90s/it]
  9%|▉         | 80/900 [05:47<19:31,  1.43s/it]
  9%|▉         | 81/900 [06:17<2:15:00,  9.89s/it]
  9%|▉         | 82/900 [06:17<1:35:47,  7.03s/it]
  9%|▉         | 83/900 [06:17<1:08:20,  5.02s/it]
  9%|▉         | 84/900 [06:18<49:09,  3.61s/it]  
  9%|▉         | 85/900 [06:18<35:45,  2.63s/it]
 10%|▉         | 86/900 [06:18<26:23,  1.95s/it]
 10%|▉         | 87/900 [06:19<19:49,  1.46s/it]
 10%|▉         | 88/900 [06:19<15:14,  1.13s/it]
 10%|▉         | 89/900 [07:45<6:00:15, 26.65s/it]
 10%|█         | 90/900 [07:46<4:13:15, 18.76s/it]
 10%|█         | 91/900 [07:46<2:58:25, 13.23s/it]
 10%|█         | 92/900 [07:46<2:06:06,  9.36s/it]
 10%|█         | 93/900 [07:47<1:29:31,  6.66s/it]
 10%|█         | 94/900 [07:47<1:03:57,  4.76s/it]
 11%|█         | 95/900 [07:47<46:04,  3.43s/it]  
 11%|█         | 96/900 [07:48<33:36,  2.51s/it]
 11%|█         | 97/900 [08:21<2:37:55, 11.80s/it]
 11%|█         | 98/900 [08:21<1:51:48,  8.36s/it]
 11%|█         | 99/900 [08:22<1:19:31,  5.96s/it]
 11%|█         | 100/900 [08:22<56:58,  4.27s/it] 
 11%|█         | 101/900 [08:22<41:11,  3.09s/it]
 11%|█▏        | 102/900 [08:23<30:09,  2.27s/it]
 11%|█▏        | 103/900 [08:23<22:26,  1.69s/it]
 12%|█▏        | 104/900 [08:23<17:02,  1.28s/it]
 12%|█▏        | 105/900 [08:53<2:07:49,  9.65s/it]
 12%|█▏        | 106/900 [08:53<1:30:43,  6.86s/it]
 12%|█▏        | 107/900 [08:53<1:04:45,  4.90s/it]
 12%|█▏        | 108/900 [08:54<46:37,  3.53s/it]  
 12%|█▏        | 109/900 [08:54<33:56,  2.57s/it]
 12%|█▏        | 110/900 [08:54<25:04,  1.90s/it]
 12%|█▏        | 111/900 [08:55<18:53,  1.44s/it]
 12%|█▏        | 112/900 [08:55<14:32,  1.11s/it]
 13%|█▎        | 113/900 [09:27<2:15:53, 10.36s/it]
 13%|█▎        | 114/900 [09:27<1:36:21,  7.36s/it]
 13%|█▎        | 115/900 [09:28<1:08:42,  5.25s/it]
 13%|█▎        | 116/900 [09:28<49:22,  3.78s/it]  
 13%|█▎        | 117/900 [09:28<35:50,  2.75s/it]
 13%|█▎        | 118/900 [09:29<26:22,  2.02s/it]
 13%|█▎        | 119/900 [09:29<19:44,  1.52s/it]
 13%|█▎        | 120/900 [09:29<15:07,  1.16s/it]
 13%|█▎        | 121/900 [09:43<1:03:52,  4.92s/it]
 14%|█▎        | 122/900 [09:43<45:59,  3.55s/it]  
 14%|█▎        | 123/900 [09:44<33:28,  2.59s/it]
 14%|█▍        | 124/900 [09:44<24:44,  1.91s/it]
 14%|█▍        | 125/900 [09:44<18:38,  1.44s/it]
 14%|█▍        | 126/900 [09:45<14:23,  1.12s/it]
 14%|█▍        | 127/900 [09:45<11:24,  1.13it/s]
 14%|█▍        | 128/900 [09:45<09:20,  1.38it/s]
 14%|█▍        | 129/900 [10:11<1:44:32,  8.14s/it]
 14%|█▍        | 130/900 [10:11<1:14:27,  5.80s/it]
 15%|█▍        | 131/900 [10:12<53:23,  4.17s/it]  
 15%|█▍        | 132/900 [10:12<38:41,  3.02s/it]
 15%|█▍        | 133/900 [10:12<28:25,  2.22s/it]
 15%|█▍        | 134/900 [10:13<21:13,  1.66s/it]
 15%|█▌        | 135/900 [10:13<16:09,  1.27s/it]
 15%|█▌        | 136/900 [10:13<12:36,  1.01it/s]
 15%|█▌        | 137/900 [10:34<1:29:39,  7.05s/it]
 15%|█▌        | 138/900 [10:35<1:04:01,  5.04s/it]
 15%|█▌        | 139/900 [10:35<46:05,  3.63s/it]  
 16%|█▌        | 140/900 [10:36<33:32,  2.65s/it]
 16%|█▌        | 141/900 [10:36<24:47,  1.96s/it]
 16%|█▌        | 142/900 [10:36<18:39,  1.48s/it]
 16%|█▌        | 143/900 [10:37<14:20,  1.14s/it]
 16%|█▌        | 144/900 [10:37<11:21,  1.11it/s]
 16%|█▌        | 145/900 [11:00<1:34:24,  7.50s/it]
 16%|█▌        | 146/900 [11:00<1:07:19,  5.36s/it]
 16%|█▋        | 147/900 [11:01<48:23,  3.86s/it]  
 16%|█▋        | 148/900 [11:01<35:08,  2.80s/it]
 17%|█▋        | 149/900 [11:01<25:52,  2.07s/it]
 17%|█▋        | 150/900 [11:02<19:22,  1.55s/it]
 17%|█▋        | 151/900 [11:02<14:51,  1.19s/it]
 17%|█▋        | 152/900 [11:02<11:41,  1.07it/s]
 17%|█▋        | 153/900 [11:33<2:01:20,  9.75s/it]
 17%|█▋        | 154/900 [11:33<1:26:07,  6.93s/it]
 17%|█▋        | 155/900 [11:33<1:01:32,  4.96s/it]
 17%|█▋        | 156/900 [11:34<44:22,  3.58s/it]  
 17%|█▋        | 157/900 [11:34<32:21,  2.61s/it]
 18%|█▊        | 158/900 [11:34<23:55,  1.93s/it]
 18%|█▊        | 159/900 [11:35<18:03,  1.46s/it]
 18%|█▊        | 160/900 [11:35<13:56,  1.13s/it]
 18%|█▊        | 161/900 [12:00<1:41:49,  8.27s/it]
 18%|█▊        | 162/900 [12:00<1:12:27,  5.89s/it]
 18%|█▊        | 163/900 [12:01<51:55,  4.23s/it]  
 18%|█▊        | 164/900 [12:01<37:35,  3.07s/it]
 18%|█▊        | 165/900 [12:01<27:34,  2.25s/it]
 18%|█▊        | 166/900 [12:02<20:34,  1.68s/it]
 19%|█▊        | 167/900 [12:02<15:39,  1.28s/it]
 19%|█▊        | 168/900 [12:02<12:13,  1.00s/it]
 19%|█▉        | 169/900 [12:45<2:43:02, 13.38s/it]
 19%|█▉        | 170/900 [12:45<1:55:15,  9.47s/it]
 19%|█▉        | 171/900 [12:45<1:21:52,  6.74s/it]
 19%|█▉        | 172/900 [12:46<58:31,  4.82s/it]  
 19%|█▉        | 173/900 [12:46<42:10,  3.48s/it]
 19%|█▉        | 174/900 [12:46<30:45,  2.54s/it]
 19%|█▉        | 175/900 [12:47<22:45,  1.88s/it]
 20%|█▉        | 176/900 [12:47<17:10,  1.42s/it]
 20%|█▉        | 177/900 [13:08<1:27:20,  7.25s/it]
 20%|█▉        | 178/900 [13:08<1:02:19,  5.18s/it]
 20%|█▉        | 179/900 [13:09<44:50,  3.73s/it]  
 20%|██        | 180/900 [13:09<32:36,  2.72s/it]
 20%|██        | 181/900 [13:09<24:02,  2.01s/it]
 20%|██        | 182/900 [13:10<18:06,  1.51s/it]
 20%|██        | 183/900 [13:10<14:00,  1.17s/it]
 20%|██        | 184/900 [13:11<11:07,  1.07it/s]
 21%|██        | 185/900 [14:10<3:40:55, 18.54s/it]
 21%|██        | 186/900 [14:11<2:35:40, 13.08s/it]
 21%|██        | 187/900 [14:11<1:50:03,  9.26s/it]
 21%|██        | 188/900 [14:11<1:18:10,  6.59s/it]
 21%|██        | 189/900 [14:12<55:53,  4.72s/it]  
 21%|██        | 190/900 [14:12<40:17,  3.41s/it]
 21%|██        | 191/900 [14:12<29:24,  2.49s/it]
 21%|██▏       | 192/900 [14:13<21:47,  1.85s/it]
 21%|██▏       | 193/900 [14:59<2:58:42, 15.17s/it]
 22%|██▏       | 194/900 [14:59<2:06:14, 10.73s/it]
 22%|██▏       | 195/900 [15:00<1:29:30,  7.62s/it]
 22%|██▏       | 196/900 [15:00<1:03:49,  5.44s/it]
 22%|██▏       | 197/900 [15:00<45:52,  3.92s/it]  
 22%|██▏       | 198/900 [15:01<33:18,  2.85s/it]
 22%|██▏       | 199/900 [15:01<24:30,  2.10s/it]
 22%|██▏       | 200/900 [15:01<18:21,  1.57s/it]
 22%|██▏       | 201/900 [16:08<4:05:18, 21.06s/it]
 22%|██▏       | 202/900 [16:08<2:52:40, 14.84s/it]
 23%|██▎       | 203/900 [16:09<2:01:58, 10.50s/it]
 23%|██▎       | 204/900 [16:09<1:26:28,  7.45s/it]
 23%|██▎       | 205/900 [16:09<1:01:40,  5.32s/it]
 23%|██▎       | 206/900 [16:10<44:21,  3.83s/it]  
 23%|██▎       | 207/900 [16:10<32:14,  2.79s/it]
 23%|██▎       | 208/900 [16:10<23:46,  2.06s/it]
 23%|██▎       | 209/900 [18:04<6:50:55, 35.68s/it]
 23%|██▎       | 210/900 [18:05<4:48:30, 25.09s/it]
 23%|██▎       | 211/900 [18:05<3:22:56, 17.67s/it]
 24%|██▎       | 212/900 [18:06<2:23:07, 12.48s/it]
 24%|██▎       | 213/900 [18:06<1:41:19,  8.85s/it]
 24%|██▍       | 214/900 [18:06<1:12:05,  6.30s/it]
 24%|██▍       | 215/900 [18:07<51:36,  4.52s/it]  
 24%|██▍       | 216/900 [18:07<37:19,  3.27s/it]
 24%|██▍       | 217/900 [19:18<4:27:58, 23.54s/it]
 24%|██▍       | 218/900 [19:18<3:08:32, 16.59s/it]
 24%|██▍       | 218/900 [19:19<1:00:26,  5.32s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json.
+TakeSpatulaOffShelfTask_2 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_2, run: 2, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 219, duration: 14.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.596697292948341, 'joint_sparc_mean': -9.219296778586648, 'ee_isj': 2543.4638057581287, 'joint_isj': 243325.71890985727, 'ee_path_length': 1.6388068341920405, 'joint_rmse_mean': 1.042912683091034, 'ee_speed_max': 0.7951989769935608, 'ee_speed_mean': 0.11413402110338211}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 1087.09, 'policy_inference_avg_ms': 4963.9, 'env_step_s': 69.926, 'env_step_avg_ms': 319.3, 'video_write_s': 2.048, 'video_write_avg_ms': 9.4, 'wall_total_s': 1159.064, 'it_per_sec': 0.19}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: dc60db021f974188825b9085af3657ab-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T16:34:06Z [25,956,560ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.224210 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T16:34:09Z [25,959,171ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-02T16:34:09Z [25,959,265ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T16:34:09Z [25,959,265ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T16:34:09Z [25,959,275ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T16:34:09Z [25,959,276ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T16:34:09Z [25,959,285ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T16:34:09Z [25,959,292ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T16:34:09Z [25,959,716ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((630))' not available in the MDL representation.
+2026-11-02T16:34:09Z [25,959,716ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((630))' not available in the MDL representation.
+2026-11-02T16:34:09Z [25,959,746ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((642))' not available in the MDL representation.
+2026-11-02T16:34:09Z [25,959,746ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((642))' not available in the MDL representation.
+2026-11-02T16:34:09Z [25,959,768ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((654))' not available in the MDL representation.
+2026-11-02T16:34:09Z [25,959,768ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((654))' not available in the MDL representation.
+2026-11-02T16:34:09Z [25,959,815ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((677))' not available in the MDL representation.
+2026-11-02T16:34:09Z [25,959,815ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((677))' not available in the MDL representation.
+2026-11-02T16:34:10Z [25,960,458ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((630))' not available in the MDL representation.
+2026-11-02T16:34:10Z [25,960,458ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((630))' not available in the MDL representation.
+2026-11-02T16:34:10Z [25,960,459ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((642))' not available in the MDL representation.
+2026-11-02T16:34:10Z [25,960,460ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((642))' not available in the MDL representation.
+2026-11-02T16:34:10Z [25,960,460ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((654))' not available in the MDL representation.
+2026-11-02T16:34:10Z [25,960,461ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((654))' not available in the MDL representation.
+2026-11-02T16:34:10Z [25,960,462ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((677))' not available in the MDL representation.
+2026-11-02T16:34:10Z [25,960,462ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((677))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.786630 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RedItemsInBinTask                             │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put all the red things in the grey bin        │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RedItemsInBinTaskSceneEnvCfg                  │
+│  Attributes  : color, sorting, moderate                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RedItemsInBinTask_0: 'Put all the red things in the grey bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:49<12:16:49, 49.18s/it]
  0%|          | 2/900 [00:49<5:05:31, 20.41s/it] 
  0%|          | 3/900 [00:49<2:47:40, 11.22s/it]
  0%|          | 4/900 [00:49<1:42:55,  6.89s/it]
  1%|          | 5/900 [00:50<1:07:09,  4.50s/it]
  1%|          | 6/900 [00:50<45:35,  3.06s/it]  
  1%|          | 7/900 [00:50<31:56,  2.15s/it]
  1%|          | 8/900 [00:51<22:59,  1.55s/it]
  1%|          | 9/900 [01:04<1:17:46,  5.24s/it]
  1%|          | 10/900 [01:04<54:56,  3.70s/it] 
  1%|          | 11/900 [01:04<39:16,  2.65s/it]
  1%|▏         | 12/900 [01:05<28:29,  1.93s/it]
  1%|▏         | 13/900 [01:05<21:02,  1.42s/it]
  2%|▏         | 14/900 [01:05<15:50,  1.07s/it]
  2%|▏         | 15/900 [01:05<12:15,  1.20it/s]
  2%|▏         | 16/900 [01:06<09:46,  1.51it/s]
  2%|▏         | 17/900 [01:39<2:32:16, 10.35s/it]
  2%|▏         | 18/900 [01:39<1:47:34,  7.32s/it]
  2%|▏         | 19/900 [01:39<1:16:23,  5.20s/it]
  2%|▏         | 20/900 [01:39<54:34,  3.72s/it]  
  2%|▏         | 21/900 [01:40<39:20,  2.69s/it]
  2%|▏         | 22/900 [01:40<28:41,  1.96s/it]
  3%|▎         | 23/900 [01:40<21:15,  1.45s/it]
  3%|▎         | 24/900 [01:41<16:01,  1.10s/it]
  3%|▎         | 25/900 [01:57<1:21:44,  5.60s/it]
  3%|▎         | 26/900 [01:57<58:18,  4.00s/it]  
  3%|▎         | 27/900 [01:57<41:54,  2.88s/it]
  3%|▎         | 28/900 [01:57<30:27,  2.10s/it]
  3%|▎         | 29/900 [01:58<22:27,  1.55s/it]
  3%|▎         | 30/900 [01:58<16:52,  1.16s/it]
  3%|▎         | 31/900 [01:58<12:58,  1.12it/s]
  4%|▎         | 32/900 [01:59<10:20,  1.40it/s]
  4%|▎         | 33/900 [02:15<1:18:16,  5.42s/it]
  4%|▍         | 34/900 [02:15<55:59,  3.88s/it]  
  4%|▍         | 35/900 [02:16<40:24,  2.80s/it]
  4%|▍         | 36/900 [02:16<29:27,  2.05s/it]
  4%|▍         | 37/900 [02:16<21:49,  1.52s/it]
  4%|▍         | 38/900 [02:16<16:28,  1.15s/it]
  4%|▍         | 39/900 [02:17<12:43,  1.13it/s]
  4%|▍         | 40/900 [02:17<10:07,  1.42it/s]
  5%|▍         | 41/900 [02:40<1:44:14,  7.28s/it]
  5%|▍         | 42/900 [02:40<1:14:06,  5.18s/it]
  5%|▍         | 43/900 [02:40<52:58,  3.71s/it]  
  5%|▍         | 44/900 [02:40<38:08,  2.67s/it]
  5%|▌         | 45/900 [02:41<27:47,  1.95s/it]
  5%|▌         | 46/900 [02:41<20:33,  1.44s/it]
  5%|▌         | 47/900 [02:41<15:29,  1.09s/it]
  5%|▌         | 48/900 [02:41<11:57,  1.19it/s]
  5%|▌         | 49/900 [03:05<1:47:38,  7.59s/it]
  6%|▌         | 50/900 [03:05<1:16:23,  5.39s/it]
  6%|▌         | 51/900 [03:05<54:32,  3.85s/it]  
  6%|▌         | 52/900 [03:06<39:15,  2.78s/it]
  6%|▌         | 53/900 [03:06<28:35,  2.03s/it]
  6%|▌         | 54/900 [03:06<21:06,  1.50s/it]
  6%|▌         | 55/900 [03:06<15:53,  1.13s/it]
  6%|▌         | 56/900 [03:07<12:15,  1.15it/s]
  6%|▋         | 57/900 [05:11<8:54:45, 38.06s/it]
  6%|▋         | 58/900 [05:12<6:14:59, 26.72s/it]
  7%|▋         | 59/900 [05:12<4:23:18, 18.79s/it]
  7%|▋         | 60/900 [05:12<3:05:12, 13.23s/it]
  7%|▋         | 61/900 [05:13<2:10:36,  9.34s/it]
  7%|▋         | 62/900 [05:13<1:32:25,  6.62s/it]
  7%|▋         | 63/900 [05:13<1:05:43,  4.71s/it]
  7%|▋         | 64/900 [05:13<47:03,  3.38s/it]  
  7%|▋         | 65/900 [05:30<1:42:51,  7.39s/it]
  7%|▋         | 66/900 [05:30<1:13:02,  5.25s/it]
  7%|▋         | 67/900 [05:31<52:11,  3.76s/it]  
  8%|▊         | 68/900 [05:31<37:37,  2.71s/it]
  8%|▊         | 69/900 [05:31<27:26,  1.98s/it]
  8%|▊         | 70/900 [05:31<20:18,  1.47s/it]
  8%|▊         | 71/900 [05:32<15:17,  1.11s/it]
  8%|▊         | 72/900 [05:32<11:46,  1.17it/s]
  8%|▊         | 73/900 [05:53<1:33:32,  6.79s/it]
  8%|▊         | 74/900 [05:53<1:06:30,  4.83s/it]
  8%|▊         | 75/900 [05:53<47:35,  3.46s/it]  
  8%|▊         | 76/900 [05:53<34:21,  2.50s/it]
  9%|▊         | 77/900 [05:54<25:06,  1.83s/it]
  9%|▊         | 78/900 [05:54<18:38,  1.36s/it]
  9%|▉         | 79/900 [05:54<14:06,  1.03s/it]
  9%|▉         | 80/900 [05:54<10:57,  1.25it/s]
  9%|▉         | 81/900 [06:24<2:07:07,  9.31s/it]
  9%|▉         | 82/900 [06:24<1:29:58,  6.60s/it]
  9%|▉         | 83/900 [06:24<1:04:01,  4.70s/it]
  9%|▉         | 84/900 [06:24<45:51,  3.37s/it]  
  9%|▉         | 85/900 [06:25<33:11,  2.44s/it]
 10%|▉         | 86/900 [06:25<24:20,  1.79s/it]
 10%|▉         | 87/900 [06:25<18:08,  1.34s/it]
 10%|▉         | 88/900 [06:26<13:52,  1.03s/it]
 10%|▉         | 89/900 [07:01<2:32:56, 11.31s/it]
 10%|█         | 90/900 [07:01<1:48:06,  8.01s/it]
 10%|█         | 91/900 [07:01<1:16:43,  5.69s/it]
 10%|█         | 92/900 [07:02<54:47,  4.07s/it]  
 10%|█         | 93/900 [07:02<39:28,  2.93s/it]
 10%|█         | 94/900 [07:02<28:46,  2.14s/it]
 11%|█         | 95/900 [07:03<21:16,  1.59s/it]
 11%|█         | 96/900 [07:03<16:02,  1.20s/it]
 11%|█         | 97/900 [07:38<2:30:44, 11.26s/it]
 11%|█         | 98/900 [07:38<1:46:27,  7.96s/it]
 11%|█         | 99/900 [07:38<1:15:28,  5.65s/it]
 11%|█         | 100/900 [07:38<53:49,  4.04s/it] 
 11%|█         | 101/900 [07:39<38:41,  2.91s/it]
 11%|█▏        | 102/900 [07:39<28:07,  2.11s/it]
 11%|█▏        | 103/900 [07:39<20:44,  1.56s/it]
 12%|█▏        | 104/900 [07:40<15:33,  1.17s/it]
 12%|█▏        | 105/900 [08:14<2:28:51, 11.23s/it]
 12%|█▏        | 106/900 [08:14<1:45:06,  7.94s/it]
 12%|█▏        | 107/900 [08:15<1:14:34,  5.64s/it]
 12%|█▏        | 108/900 [08:15<53:11,  4.03s/it]  
 12%|█▏        | 109/900 [08:15<38:18,  2.91s/it]
 12%|█▏        | 110/900 [08:16<27:57,  2.12s/it]
 12%|█▏        | 111/900 [08:16<20:42,  1.58s/it]
 12%|█▏        | 112/900 [08:16<15:38,  1.19s/it]
 13%|█▎        | 113/900 [09:05<3:22:57, 15.47s/it]
 13%|█▎        | 114/900 [09:05<2:22:55, 10.91s/it]
 13%|█▎        | 115/900 [09:06<1:40:58,  7.72s/it]
 13%|█▎        | 116/900 [09:06<1:11:37,  5.48s/it]
 13%|█▎        | 117/900 [09:06<51:06,  3.92s/it]  
 13%|█▎        | 118/900 [09:06<36:46,  2.82s/it]
 13%|█▎        | 119/900 [09:07<26:45,  2.06s/it]
 13%|█▎        | 120/900 [09:07<19:44,  1.52s/it]
 13%|█▎        | 121/900 [09:42<2:29:37, 11.52s/it]
 14%|█▎        | 122/900 [09:42<1:45:36,  8.14s/it]
 14%|█▎        | 123/900 [09:42<1:14:52,  5.78s/it]
 14%|█▍        | 124/900 [09:43<53:22,  4.13s/it]  
 14%|█▍        | 125/900 [09:43<38:20,  2.97s/it]
 14%|█▍        | 126/900 [09:43<27:50,  2.16s/it]
 14%|█▍        | 127/900 [09:43<20:29,  1.59s/it]
 14%|█▍        | 128/900 [09:44<15:25,  1.20s/it]
 14%|█▍        | 129/900 [10:05<1:34:50,  7.38s/it]
 14%|█▍        | 130/900 [10:06<1:07:24,  5.25s/it]
 15%|█▍        | 131/900 [10:06<48:13,  3.76s/it]  
 15%|█▍        | 132/900 [10:06<34:48,  2.72s/it]
 15%|█▍        | 133/900 [10:07<25:25,  1.99s/it]
 15%|█▍        | 134/900 [10:07<18:51,  1.48s/it]
 15%|█▌        | 135/900 [10:07<14:16,  1.12s/it]
 15%|█▌        | 136/900 [10:07<11:02,  1.15it/s]
 15%|█▌        | 137/900 [10:24<1:10:54,  5.58s/it]
 15%|█▌        | 138/900 [10:24<50:40,  3.99s/it]  
 15%|█▌        | 139/900 [10:25<36:30,  2.88s/it]
 16%|█▌        | 140/900 [10:25<26:36,  2.10s/it]
 16%|█▌        | 141/900 [10:25<19:41,  1.56s/it]
 16%|█▌        | 142/900 [10:25<14:50,  1.17s/it]
 16%|█▌        | 143/900 [10:26<11:26,  1.10it/s]
 16%|█▌        | 144/900 [10:26<09:03,  1.39it/s]
 16%|█▌        | 145/900 [10:41<1:04:18,  5.11s/it]
 16%|█▌        | 146/900 [10:42<45:59,  3.66s/it]  
 16%|█▋        | 147/900 [10:42<33:11,  2.64s/it]
 16%|█▋        | 148/900 [10:42<24:15,  1.94s/it]
 17%|█▋        | 149/900 [10:42<17:59,  1.44s/it]
 17%|█▋        | 150/900 [10:43<13:37,  1.09s/it]
 17%|█▋        | 151/900 [10:43<10:34,  1.18it/s]
 17%|█▋        | 152/900 [10:43<08:25,  1.48it/s]
 17%|█▋        | 153/900 [11:01<1:11:00,  5.70s/it]
 17%|█▋        | 154/900 [11:01<50:43,  4.08s/it]  
 17%|█▋        | 155/900 [11:01<36:34,  2.95s/it]
 17%|█▋        | 156/900 [11:02<26:38,  2.15s/it]
 17%|█▋        | 157/900 [11:02<19:42,  1.59s/it]
 18%|█▊        | 158/900 [11:02<14:50,  1.20s/it]
 18%|█▊        | 159/900 [11:02<11:27,  1.08it/s]
 18%|█▊        | 160/900 [11:03<09:03,  1.36it/s]
 18%|█▊        | 161/900 [11:47<2:49:38, 13.77s/it]
 18%|█▊        | 162/900 [11:47<1:59:41,  9.73s/it]
 18%|█▊        | 163/900 [11:48<1:24:45,  6.90s/it]
 18%|█▊        | 164/900 [11:48<1:00:20,  4.92s/it]
 18%|█▊        | 165/900 [11:48<43:14,  3.53s/it]  
 18%|█▊        | 166/900 [11:48<31:17,  2.56s/it]
 19%|█▊        | 167/900 [11:49<22:56,  1.88s/it]
 19%|█▊        | 168/900 [11:49<17:06,  1.40s/it]
 19%|█▉        | 169/900 [12:06<1:13:58,  6.07s/it]
 19%|█▉        | 170/900 [12:06<52:48,  4.34s/it]  
 19%|█▉        | 171/900 [12:07<37:57,  3.12s/it]
 19%|█▉        | 172/900 [12:07<27:35,  2.27s/it]
 19%|█▉        | 173/900 [12:07<20:20,  1.68s/it]
 19%|█▉        | 174/900 [12:07<15:16,  1.26s/it]
 19%|█▉        | 175/900 [12:08<11:44,  1.03it/s]
 20%|█▉        | 176/900 [12:08<09:14,  1.30it/s]
 20%|█▉        | 177/900 [12:28<1:20:28,  6.68s/it]
 20%|█▉        | 178/900 [12:29<57:17,  4.76s/it]  
 20%|█▉        | 179/900 [12:29<41:06,  3.42s/it]
 20%|██        | 180/900 [12:29<29:46,  2.48s/it]
 20%|██        | 181/900 [12:30<21:51,  1.82s/it]
 20%|██        | 182/900 [12:30<16:19,  1.36s/it]
 20%|██        | 183/900 [12:30<12:27,  1.04s/it]
 20%|██        | 184/900 [12:30<09:45,  1.22it/s]
 21%|██        | 185/900 [12:49<1:11:33,  6.01s/it]
 21%|██        | 186/900 [12:49<51:05,  4.29s/it]  
 21%|██        | 187/900 [12:49<36:45,  3.09s/it]
 21%|██        | 188/900 [12:49<26:45,  2.25s/it]
 21%|██        | 189/900 [12:50<19:43,  1.66s/it]
 21%|██        | 190/900 [12:50<14:49,  1.25s/it]
 21%|██        | 191/900 [12:50<11:22,  1.04it/s]
 21%|██▏       | 192/900 [12:51<08:58,  1.32it/s]
 21%|██▏       | 193/900 [13:12<1:21:57,  6.96s/it]
 22%|██▏       | 194/900 [13:12<58:17,  4.95s/it]  
 22%|██▏       | 195/900 [13:13<41:45,  3.55s/it]
 22%|██▏       | 196/900 [13:13<30:12,  2.57s/it]
 22%|██▏       | 197/900 [13:13<22:08,  1.89s/it]
 22%|██▏       | 198/900 [13:13<16:28,  1.41s/it]
 22%|██▏       | 199/900 [13:14<12:32,  1.07s/it]
 22%|██▏       | 200/900 [13:14<09:46,  1.19it/s]
 22%|██▏       | 201/900 [13:58<2:40:26, 13.77s/it]
 22%|██▏       | 202/900 [13:58<1:53:09,  9.73s/it]
 23%|██▎       | 203/900 [13:59<1:20:06,  6.90s/it]
 23%|██▎       | 204/900 [13:59<57:00,  4.91s/it]  
 23%|██▎       | 205/900 [13:59<40:50,  3.53s/it]
 23%|██▎       | 206/900 [13:59<29:33,  2.56s/it]
 23%|██▎       | 207/900 [14:00<21:38,  1.87s/it]
 23%|██▎       | 208/900 [14:00<16:08,  1.40s/it]
 23%|██▎       | 209/900 [14:20<1:19:44,  6.92s/it]
 23%|██▎       | 210/900 [14:20<56:38,  4.93s/it]  
 23%|██▎       | 211/900 [14:20<40:29,  3.53s/it]
 24%|██▎       | 212/900 [14:21<29:12,  2.55s/it]
 24%|██▎       | 213/900 [14:21<21:19,  1.86s/it]
 24%|██▍       | 214/900 [14:21<15:49,  1.38s/it]
 24%|██▍       | 215/900 [14:21<11:56,  1.05s/it]
 24%|██▍       | 216/900 [14:22<09:19,  1.22it/s]
 24%|██▍       | 217/900 [14:48<1:35:45,  8.41s/it]
 24%|██▍       | 218/900 [14:48<1:07:50,  5.97s/it]
 24%|██▍       | 219/900 [14:48<48:19,  4.26s/it]  
 24%|██▍       | 220/900 [14:49<34:40,  3.06s/it]
 25%|██▍       | 221/900 [14:49<25:08,  2.22s/it]
 25%|██▍       | 222/900 [14:49<18:28,  1.64s/it]
 25%|██▍       | 223/900 [14:49<13:47,  1.22s/it]
 25%|██▍       | 224/900 [14:50<10:32,  1.07it/s]
 25%|██▌       | 225/900 [15:23<1:59:01, 10.58s/it]
 25%|██▌       | 226/900 [15:23<1:24:05,  7.49s/it]
 25%|██▌       | 227/900 [15:23<59:40,  5.32s/it]  
 25%|██▌       | 228/900 [15:24<42:35,  3.80s/it]
 25%|██▌       | 229/900 [15:24<30:40,  2.74s/it]
 26%|██▌       | 230/900 [15:24<22:19,  2.00s/it]
 26%|██▌       | 231/900 [15:24<16:29,  1.48s/it]
 26%|██▌       | 232/900 [15:25<12:24,  1.11s/it]
 26%|██▌       | 233/900 [15:57<1:58:12, 10.63s/it]
 26%|██▌       | 234/900 [15:58<1:23:29,  7.52s/it]
 26%|██▌       | 235/900 [15:58<59:14,  5.35s/it]  
 26%|██▌       | 236/900 [15:58<42:17,  3.82s/it]
 26%|██▋       | 237/900 [15:59<30:26,  2.75s/it]
 26%|██▋       | 238/900 [15:59<22:08,  2.01s/it]
 27%|██▋       | 239/900 [15:59<16:20,  1.48s/it]
 27%|██▋       | 240/900 [15:59<12:18,  1.12s/it]
 27%|██▋       | 241/900 [16:21<1:20:41,  7.35s/it]
 27%|██▋       | 242/900 [16:21<57:15,  5.22s/it]  
 27%|██▋       | 243/900 [16:22<40:53,  3.73s/it]
 27%|██▋       | 244/900 [16:22<29:30,  2.70s/it]
 27%|██▋       | 245/900 [16:22<21:29,  1.97s/it]
 27%|██▋       | 246/900 [16:23<15:53,  1.46s/it]
 27%|██▋       | 247/900 [16:23<11:57,  1.10s/it]
 28%|██▊       | 248/900 [16:23<09:14,  1.18it/s]
 28%|██▊       | 249/900 [17:25<3:29:09, 19.28s/it]
 28%|██▊       | 250/900 [17:26<2:27:02, 13.57s/it]
 28%|██▊       | 251/900 [17:26<1:43:37,  9.58s/it]
 28%|██▊       | 252/900 [17:26<1:13:16,  6.78s/it]
 28%|██▊       | 253/900 [17:26<52:04,  4.83s/it]  
 28%|██▊       | 254/900 [17:27<37:14,  3.46s/it]
 28%|██▊       | 255/900 [17:27<26:54,  2.50s/it]
 28%|██▊       | 256/900 [17:27<19:42,  1.84s/it]
 29%|██▊       | 257/900 [17:58<1:53:59, 10.64s/it]
 29%|██▊       | 258/900 [17:59<1:20:31,  7.53s/it]
 29%|██▉       | 259/900 [17:59<57:07,  5.35s/it]  
 29%|██▉       | 260/900 [17:59<40:47,  3.82s/it]
 29%|██▉       | 261/900 [17:59<29:21,  2.76s/it]
 29%|██▉       | 262/900 [18:00<21:21,  2.01s/it]
 29%|██▉       | 263/900 [18:00<15:53,  1.50s/it]
 29%|██▉       | 264/900 [18:00<11:57,  1.13s/it]
 29%|██▉       | 265/900 [19:21<4:24:31, 24.99s/it]
 30%|██▉       | 266/900 [19:21<3:05:43, 17.58s/it]
 30%|██▉       | 267/900 [19:22<2:10:37, 12.38s/it]
 30%|██▉       | 268/900 [19:22<1:32:07,  8.75s/it]
 30%|██▉       | 269/900 [19:22<1:05:13,  6.20s/it]
 30%|███       | 270/900 [19:22<46:25,  4.42s/it]  
 30%|███       | 271/900 [19:23<33:17,  3.18s/it]
 30%|███       | 272/900 [19:23<24:06,  2.30s/it]
 30%|███       | 273/900 [20:37<4:10:38, 23.98s/it]
 30%|███       | 274/900 [20:38<2:55:59, 16.87s/it]
 31%|███       | 275/900 [20:38<2:03:50, 11.89s/it]
 31%|███       | 276/900 [20:38<1:27:22,  8.40s/it]
 31%|███       | 277/900 [20:38<1:01:53,  5.96s/it]
 31%|███       | 278/900 [20:39<44:03,  4.25s/it]  
 31%|███       | 279/900 [20:39<31:37,  3.05s/it]
 31%|███       | 280/900 [20:39<22:55,  2.22s/it]
 31%|███       | 281/900 [21:01<1:22:22,  7.99s/it]
 31%|███▏      | 282/900 [21:01<58:23,  5.67s/it]  
 31%|███▏      | 283/900 [21:01<41:36,  4.05s/it]
 32%|███▏      | 284/900 [21:02<29:54,  2.91s/it]
 32%|███▏      | 285/900 [21:02<21:44,  2.12s/it]
 32%|███▏      | 286/900 [21:02<16:00,  1.56s/it]
 32%|███▏      | 287/900 [21:02<11:59,  1.17s/it]
 32%|███▏      | 288/900 [21:03<09:12,  1.11it/s]
 32%|███▏      | 289/900 [21:55<2:45:31, 16.25s/it]
 32%|███▏      | 290/900 [21:55<1:56:34, 11.47s/it]
 32%|███▏      | 291/900 [21:55<1:22:21,  8.11s/it]
 32%|███▏      | 292/900 [21:56<58:25,  5.77s/it]  
 33%|███▎      | 293/900 [21:56<41:42,  4.12s/it]
 33%|███▎      | 294/900 [21:56<30:01,  2.97s/it]
 33%|███▎      | 295/900 [21:56<21:51,  2.17s/it]
 33%|███▎      | 296/900 [21:57<16:08,  1.60s/it]
 33%|███▎      | 297/900 [22:33<2:00:53, 12.03s/it]
 33%|███▎      | 298/900 [22:33<1:25:21,  8.51s/it]
 33%|███▎      | 299/900 [22:34<1:00:29,  6.04s/it]
 33%|███▎      | 300/900 [22:34<43:08,  4.31s/it]  
 33%|███▎      | 301/900 [22:34<31:01,  3.11s/it]
 34%|███▎      | 302/900 [22:34<22:32,  2.26s/it]
 34%|███▎      | 303/900 [22:35<16:36,  1.67s/it]
 34%|███▍      | 304/900 [22:35<12:27,  1.25s/it]
 34%|███▍      | 305/900 [24:31<5:54:09, 35.71s/it]
 34%|███▍      | 306/900 [24:31<4:08:21, 25.09s/it]
 34%|███▍      | 307/900 [24:32<2:54:24, 17.65s/it]
 34%|███▍      | 308/900 [24:32<2:02:44, 12.44s/it]
 34%|███▍      | 309/900 [24:32<1:26:37,  8.79s/it]
 34%|███▍      | 310/900 [24:33<1:01:23,  6.24s/it]
 35%|███▍      | 311/900 [24:33<43:44,  4.46s/it]  
 35%|███▍      | 312/900 [24:33<31:25,  3.21s/it]
 35%|███▍      | 313/900 [24:58<1:35:57,  9.81s/it]
 35%|███▍      | 314/900 [24:59<1:07:53,  6.95s/it]
 35%|███▌      | 315/900 [24:59<48:16,  4.95s/it]  
 35%|███▌      | 316/900 [24:59<34:34,  3.55s/it]
 35%|███▌      | 317/900 [25:00<24:59,  2.57s/it]
 35%|███▌      | 318/900 [25:00<18:17,  1.89s/it]
 35%|███▌      | 319/900 [25:00<13:36,  1.41s/it]
 36%|███▌      | 320/900 [25:00<10:21,  1.07s/it]
 36%|███▌      | 321/900 [26:25<4:12:58, 26.21s/it]
 36%|███▌      | 322/900 [26:26<2:57:36, 18.44s/it]
 36%|███▌      | 323/900 [26:26<2:04:57, 12.99s/it]
 36%|███▌      | 324/900 [26:26<1:28:10,  9.19s/it]
 36%|███▌      | 325/900 [26:26<1:02:28,  6.52s/it]
 36%|███▌      | 326/900 [26:27<44:29,  4.65s/it]  
 36%|███▋      | 327/900 [26:27<31:53,  3.34s/it]
 36%|███▋      | 328/900 [26:27<23:06,  2.42s/it]
 37%|███▋      | 329/900 [26:52<1:27:59,  9.25s/it]
 37%|███▋      | 330/900 [26:53<1:02:19,  6.56s/it]
 37%|███▋      | 331/900 [26:53<44:22,  4.68s/it]  
 37%|███▋      | 332/900 [26:53<31:50,  3.36s/it]
 37%|███▋      | 333/900 [26:54<23:04,  2.44s/it]
 37%|███▋      | 334/900 [26:54<16:56,  1.80s/it]
 37%|███▋      | 335/900 [26:54<12:39,  1.34s/it]
 37%|███▋      | 336/900 [26:55<09:38,  1.03s/it]
 37%|███▋      | 336/900 [27:52<46:48,  4.98s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json.
+RedItemsInBinTask_0 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 337, duration: 22.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.349194946206017, 'joint_sparc_mean': -8.315342328428198, 'ee_isj': 1759.4694676773152, 'joint_isj': 33108.24323918212, 'ee_path_length': 3.3430139756438297, 'joint_rmse_mean': 0.9695389373690867, 'ee_speed_max': 0.5138490796089172, 'ee_speed_mean': 0.1409270465373993}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 1588.009, 'policy_inference_avg_ms': 4712.2, 'env_step_s': 81.773, 'env_step_avg_ms': 242.7, 'video_write_s': 2.863, 'video_write_avg_ms': 8.5, 'wall_total_s': 1672.645, 'it_per_sec': 0.2}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: f6c0b8022f384928a81743f297b842ef-0
+[RoboLab] Running RedItemsInBinTask_1: 'Put all the red things in the grey bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:09<17:15:15, 69.09s/it]
  0%|          | 2/900 [01:09<7:08:12, 28.61s/it] 
  0%|          | 3/900 [01:09<3:54:14, 15.67s/it]
  0%|          | 4/900 [01:09<2:23:09,  9.59s/it]
  1%|          | 5/900 [01:10<1:32:51,  6.23s/it]
  1%|          | 6/900 [01:10<1:02:34,  4.20s/it]
  1%|          | 7/900 [01:10<43:21,  2.91s/it]  
  1%|          | 8/900 [01:10<30:46,  2.07s/it]
  1%|          | 9/900 [01:27<1:36:13,  6.48s/it]
  1%|          | 10/900 [01:27<1:07:40,  4.56s/it]
  1%|          | 11/900 [01:27<48:06,  3.25s/it]  
  1%|▏         | 12/900 [01:27<34:36,  2.34s/it]
  1%|▏         | 13/900 [01:28<25:16,  1.71s/it]
  2%|▏         | 14/900 [01:28<18:48,  1.27s/it]
  2%|▏         | 15/900 [01:28<14:19,  1.03it/s]
  2%|▏         | 16/900 [01:28<11:10,  1.32it/s]
  2%|▏         | 17/900 [01:50<1:44:58,  7.13s/it]
  2%|▏         | 18/900 [01:51<1:14:31,  5.07s/it]
  2%|▏         | 19/900 [01:51<53:15,  3.63s/it]  
  2%|▏         | 20/900 [01:51<38:23,  2.62s/it]
  2%|▏         | 21/900 [01:52<28:00,  1.91s/it]
  2%|▏         | 22/900 [01:52<20:44,  1.42s/it]
  3%|▎         | 23/900 [01:52<15:39,  1.07s/it]
  3%|▎         | 24/900 [01:52<12:06,  1.21it/s]
  3%|▎         | 25/900 [02:10<1:24:28,  5.79s/it]
  3%|▎         | 26/900 [02:10<1:00:13,  4.13s/it]
  3%|▎         | 27/900 [02:10<43:16,  2.97s/it]  
  3%|▎         | 28/900 [02:10<31:24,  2.16s/it]
  3%|▎         | 29/900 [02:11<23:06,  1.59s/it]
  3%|▎         | 30/900 [02:11<17:18,  1.19s/it]
  3%|▎         | 31/900 [02:11<13:14,  1.09it/s]
  4%|▎         | 32/900 [02:12<10:25,  1.39it/s]
  4%|▎         | 33/900 [02:24<59:35,  4.12s/it]
  4%|▍         | 34/900 [02:24<42:49,  2.97s/it]
  4%|▍         | 35/900 [02:24<31:04,  2.16s/it]
  4%|▍         | 36/900 [02:24<22:53,  1.59s/it]
  4%|▍         | 37/900 [02:25<17:08,  1.19s/it]
  4%|▍         | 38/900 [02:25<13:08,  1.09it/s]
  4%|▍         | 39/900 [02:25<10:20,  1.39it/s]
  4%|▍         | 40/900 [02:25<08:24,  1.70it/s]
  5%|▍         | 41/900 [02:46<1:35:05,  6.64s/it]
  5%|▍         | 42/900 [02:47<1:07:41,  4.73s/it]
  5%|▍         | 43/900 [02:47<48:32,  3.40s/it]  
  5%|▍         | 44/900 [02:47<35:09,  2.46s/it]
  5%|▌         | 45/900 [02:47<25:49,  1.81s/it]
  5%|▌         | 46/900 [02:48<19:15,  1.35s/it]
  5%|▌         | 47/900 [02:48<14:40,  1.03s/it]
  5%|▌         | 48/900 [02:48<11:28,  1.24it/s]
  5%|▌         | 49/900 [02:58<49:34,  3.50s/it]
  6%|▌         | 50/900 [02:58<35:50,  2.53s/it]
  6%|▌         | 51/900 [02:59<26:18,  1.86s/it]
  6%|▌         | 52/900 [02:59<19:39,  1.39s/it]
  6%|▌         | 53/900 [02:59<14:59,  1.06s/it]
  6%|▌         | 54/900 [02:59<11:42,  1.20it/s]
  6%|▌         | 55/900 [03:00<09:20,  1.51it/s]
  6%|▌         | 56/900 [03:00<07:40,  1.83it/s]
  6%|▋         | 57/900 [03:26<1:52:58,  8.04s/it]
  6%|▋         | 58/900 [03:26<1:20:06,  5.71s/it]
  7%|▋         | 59/900 [03:26<57:07,  4.08s/it]  
  7%|▋         | 60/900 [03:26<41:02,  2.93s/it]
  7%|▋         | 61/900 [03:27<29:48,  2.13s/it]
  7%|▋         | 62/900 [03:27<21:56,  1.57s/it]
  7%|▋         | 63/900 [03:27<16:26,  1.18s/it]
  7%|▋         | 64/900 [03:27<12:37,  1.10it/s]
  7%|▋         | 65/900 [03:44<1:17:05,  5.54s/it]
  7%|▋         | 66/900 [03:44<55:00,  3.96s/it]  
  7%|▋         | 67/900 [03:44<39:32,  2.85s/it]
  8%|▊         | 68/900 [03:45<28:45,  2.07s/it]
  8%|▊         | 69/900 [03:45<21:12,  1.53s/it]
  8%|▊         | 70/900 [03:45<15:55,  1.15s/it]
  8%|▊         | 71/900 [03:45<12:14,  1.13it/s]
  8%|▊         | 72/900 [03:46<09:38,  1.43it/s]
  8%|▊         | 73/900 [04:06<1:29:23,  6.49s/it]
  8%|▊         | 74/900 [04:06<1:03:35,  4.62s/it]
  8%|▊         | 75/900 [04:06<45:33,  3.31s/it]  
  8%|▊         | 76/900 [04:06<32:56,  2.40s/it]
  9%|▊         | 77/900 [04:07<24:07,  1.76s/it]
  9%|▊         | 78/900 [04:07<17:58,  1.31s/it]
  9%|▉         | 79/900 [04:07<13:40,  1.00it/s]
  9%|▉         | 80/900 [04:07<10:39,  1.28it/s]
  9%|▉         | 81/900 [04:40<2:21:50, 10.39s/it]
  9%|▉         | 82/900 [04:41<1:40:15,  7.35s/it]
  9%|▉         | 83/900 [04:41<1:11:10,  5.23s/it]
  9%|▉         | 84/900 [04:41<50:51,  3.74s/it]  
  9%|▉         | 85/900 [04:41<36:38,  2.70s/it]
 10%|▉         | 86/900 [04:42<26:42,  1.97s/it]
 10%|▉         | 87/900 [04:42<19:44,  1.46s/it]
 10%|▉         | 88/900 [04:42<14:53,  1.10s/it]
 10%|▉         | 89/900 [05:09<1:58:51,  8.79s/it]
 10%|█         | 90/900 [05:09<1:24:10,  6.24s/it]
 10%|█         | 91/900 [05:09<59:54,  4.44s/it]  
 10%|█         | 92/900 [05:10<42:57,  3.19s/it]
 10%|█         | 93/900 [05:10<31:06,  2.31s/it]
 10%|█         | 94/900 [05:10<22:50,  1.70s/it]
 11%|█         | 95/900 [05:10<17:06,  1.28s/it]
 11%|█         | 96/900 [05:11<13:06,  1.02it/s]
 11%|█         | 97/900 [05:32<1:35:46,  7.16s/it]
 11%|█         | 98/900 [05:33<1:08:07,  5.10s/it]
 11%|█         | 99/900 [05:33<48:43,  3.65s/it]  
 11%|█         | 100/900 [05:33<35:12,  2.64s/it]
 11%|█         | 101/900 [05:33<25:44,  1.93s/it]
 11%|█▏        | 102/900 [05:34<19:07,  1.44s/it]
 11%|█▏        | 103/900 [05:34<14:29,  1.09s/it]
 12%|█▏        | 104/900 [05:34<11:16,  1.18it/s]
 12%|█▏        | 105/900 [05:53<1:23:09,  6.28s/it]
 12%|█▏        | 106/900 [05:54<59:09,  4.47s/it]  
 12%|█▏        | 107/900 [05:54<42:23,  3.21s/it]
 12%|█▏        | 108/900 [05:54<30:41,  2.33s/it]
 12%|█▏        | 109/900 [05:54<22:29,  1.71s/it]
 12%|█▏        | 110/900 [05:55<16:45,  1.27s/it]
 12%|█▏        | 111/900 [05:55<12:44,  1.03it/s]
 12%|█▏        | 112/900 [05:55<09:55,  1.32it/s]
 13%|█▎        | 113/900 [06:14<1:21:41,  6.23s/it]
 13%|█▎        | 114/900 [06:14<58:09,  4.44s/it]  
 13%|█▎        | 115/900 [06:15<41:41,  3.19s/it]
 13%|█▎        | 116/900 [06:15<30:10,  2.31s/it]
 13%|█▎        | 117/900 [06:15<22:08,  1.70s/it]
 13%|█▎        | 118/900 [06:15<16:30,  1.27s/it]
 13%|█▎        | 119/900 [06:16<12:35,  1.03it/s]
 13%|█▎        | 120/900 [06:16<09:50,  1.32it/s]
 13%|█▎        | 121/900 [06:39<1:35:17,  7.34s/it]
 14%|█▎        | 122/900 [06:39<1:07:43,  5.22s/it]
 14%|█▎        | 123/900 [06:39<48:29,  3.74s/it]  
 14%|█▍        | 124/900 [06:40<35:01,  2.71s/it]
 14%|█▍        | 125/900 [06:40<25:36,  1.98s/it]
 14%|█▍        | 126/900 [06:40<18:59,  1.47s/it]
 14%|█▍        | 127/900 [06:40<14:23,  1.12s/it]
 14%|█▍        | 128/900 [06:41<11:09,  1.15it/s]
 14%|█▍        | 129/900 [07:10<1:59:14,  9.28s/it]
 14%|█▍        | 130/900 [07:10<1:24:27,  6.58s/it]
 15%|█▍        | 131/900 [07:10<1:00:03,  4.69s/it]
 15%|█▍        | 132/900 [07:10<42:58,  3.36s/it]  
 15%|█▍        | 133/900 [07:11<31:02,  2.43s/it]
 15%|█▍        | 134/900 [07:11<22:42,  1.78s/it]
 15%|█▌        | 135/900 [07:11<16:52,  1.32s/it]
 15%|█▌        | 136/900 [07:11<12:47,  1.01s/it]
 15%|█▌        | 137/900 [07:31<1:25:02,  6.69s/it]
 15%|█▌        | 138/900 [07:32<1:00:27,  4.76s/it]
 15%|█▌        | 139/900 [07:32<43:15,  3.41s/it]  
 16%|█▌        | 140/900 [07:32<31:14,  2.47s/it]
 16%|█▌        | 141/900 [07:32<22:50,  1.81s/it]
 16%|█▌        | 142/900 [07:33<16:58,  1.34s/it]
 16%|█▌        | 143/900 [07:33<12:51,  1.02s/it]
 16%|█▌        | 144/900 [07:33<09:58,  1.26it/s]
 16%|█▌        | 145/900 [08:22<3:09:59, 15.10s/it]
 16%|█▌        | 146/900 [08:22<2:13:49, 10.65s/it]
 16%|█▋        | 147/900 [08:22<1:34:32,  7.53s/it]
 16%|█▋        | 148/900 [08:22<1:07:05,  5.35s/it]
 17%|█▋        | 149/900 [08:23<47:53,  3.83s/it]  
 17%|█▋        | 150/900 [08:23<34:28,  2.76s/it]
 17%|█▋        | 151/900 [08:23<25:06,  2.01s/it]
 17%|█▋        | 152/900 [08:24<18:35,  1.49s/it]
 17%|█▋        | 153/900 [08:39<1:10:32,  5.67s/it]
 17%|█▋        | 154/900 [08:39<50:19,  4.05s/it]  
 17%|█▋        | 155/900 [08:40<36:13,  2.92s/it]
 17%|█▋        | 156/900 [08:40<26:22,  2.13s/it]
 17%|█▋        | 157/900 [08:40<19:28,  1.57s/it]
 18%|█▊        | 158/900 [08:40<14:38,  1.18s/it]
 18%|█▊        | 159/900 [08:41<11:14,  1.10it/s]
 18%|█▊        | 160/900 [08:41<08:53,  1.39it/s]
 18%|█▊        | 161/900 [09:39<3:41:07, 17.95s/it]
 18%|█▊        | 162/900 [09:39<2:35:33, 12.65s/it]
 18%|█▊        | 163/900 [09:40<1:49:42,  8.93s/it]
 18%|█▊        | 164/900 [09:40<1:17:40,  6.33s/it]
 18%|█▊        | 165/900 [09:40<55:15,  4.51s/it]  
 18%|█▊        | 166/900 [09:40<39:35,  3.24s/it]
 19%|█▊        | 167/900 [09:41<28:38,  2.34s/it]
 19%|█▊        | 168/900 [09:41<20:59,  1.72s/it]
 19%|█▉        | 169/900 [10:31<3:19:12, 16.35s/it]
 19%|█▉        | 170/900 [10:32<2:20:13, 11.52s/it]
 19%|█▉        | 171/900 [10:32<1:38:58,  8.15s/it]
 19%|█▉        | 172/900 [10:32<1:10:09,  5.78s/it]
 19%|█▉        | 173/900 [10:32<49:59,  4.13s/it]  
 19%|█▉        | 174/900 [10:33<35:54,  2.97s/it]
 19%|█▉        | 175/900 [10:33<26:03,  2.16s/it]
 20%|█▉        | 176/900 [10:33<19:09,  1.59s/it]
 20%|█▉        | 177/900 [11:50<4:52:22, 24.26s/it]
 20%|█▉        | 178/900 [11:51<3:25:19, 17.06s/it]
 20%|█▉        | 179/900 [11:51<2:24:28, 12.02s/it]
 20%|██        | 180/900 [11:51<1:41:56,  8.50s/it]
 20%|██        | 181/900 [11:51<1:12:12,  6.03s/it]
 20%|██        | 182/900 [11:52<51:24,  4.30s/it]  
 20%|██        | 183/900 [11:52<36:52,  3.09s/it]
 20%|██        | 184/900 [11:52<26:42,  2.24s/it]
 21%|██        | 185/900 [12:14<1:35:38,  8.03s/it]
 21%|██        | 186/900 [12:14<1:07:47,  5.70s/it]
 21%|██        | 187/900 [12:14<48:18,  4.07s/it]  
 21%|██        | 188/900 [12:15<34:42,  2.93s/it]
 21%|██        | 189/900 [12:15<25:12,  2.13s/it]
 21%|██        | 190/900 [12:15<18:34,  1.57s/it]
 21%|██        | 191/900 [12:15<13:55,  1.18s/it]
 21%|██▏       | 192/900 [12:16<10:40,  1.11it/s]
 21%|██▏       | 193/900 [12:40<1:32:16,  7.83s/it]
 22%|██▏       | 194/900 [12:40<1:05:32,  5.57s/it]
 22%|██▏       | 195/900 [12:40<46:49,  3.99s/it]  
 22%|██▏       | 196/900 [12:40<33:44,  2.88s/it]
 22%|██▏       | 197/900 [12:41<24:36,  2.10s/it]
 22%|██▏       | 198/900 [12:41<18:12,  1.56s/it]
 22%|██▏       | 199/900 [12:41<13:43,  1.17s/it]
 22%|██▏       | 200/900 [12:42<10:35,  1.10it/s]
 22%|██▏       | 201/900 [13:13<1:56:30, 10.00s/it]
 22%|██▏       | 202/900 [13:13<1:22:22,  7.08s/it]
 23%|██▎       | 203/900 [13:13<58:29,  5.04s/it]  
 23%|██▎       | 204/900 [13:14<41:47,  3.60s/it]
 23%|██▎       | 205/900 [13:14<30:07,  2.60s/it]
 23%|██▎       | 206/900 [13:14<21:57,  1.90s/it]
 23%|██▎       | 207/900 [13:14<16:15,  1.41s/it]
 23%|██▎       | 208/900 [13:15<12:15,  1.06s/it]
 23%|██▎       | 209/900 [13:41<1:38:06,  8.52s/it]
 23%|██▎       | 210/900 [13:41<1:09:28,  6.04s/it]
 23%|██▎       | 211/900 [13:41<49:27,  4.31s/it]  
 24%|██▎       | 212/900 [13:41<35:29,  3.09s/it]
 24%|██▎       | 213/900 [13:42<25:42,  2.24s/it]
 24%|██▍       | 214/900 [13:42<18:52,  1.65s/it]
 24%|██▍       | 215/900 [13:42<14:06,  1.24s/it]
 24%|██▍       | 216/900 [13:42<10:47,  1.06it/s]
 24%|██▍       | 217/900 [14:02<1:15:32,  6.64s/it]
 24%|██▍       | 218/900 [14:03<53:45,  4.73s/it]  
 24%|██▍       | 219/900 [14:03<38:32,  3.40s/it]
 24%|██▍       | 220/900 [14:03<27:53,  2.46s/it]
 25%|██▍       | 221/900 [14:03<20:25,  1.81s/it]
 25%|██▍       | 222/900 [14:04<15:12,  1.35s/it]
 25%|██▍       | 223/900 [14:04<11:32,  1.02s/it]
 25%|██▍       | 224/900 [14:04<08:59,  1.25it/s]
 25%|██▌       | 225/900 [14:35<1:49:16,  9.71s/it]
 25%|██▌       | 226/900 [14:35<1:17:18,  6.88s/it]
 25%|██▌       | 227/900 [14:35<54:57,  4.90s/it]  
 25%|██▌       | 228/900 [14:36<39:20,  3.51s/it]
 25%|██▌       | 229/900 [14:36<28:26,  2.54s/it]
 26%|██▌       | 230/900 [14:36<20:50,  1.87s/it]
 26%|██▌       | 231/900 [14:36<15:30,  1.39s/it]
 26%|██▌       | 232/900 [14:37<11:47,  1.06s/it]
 26%|██▌       | 233/900 [14:55<1:10:10,  6.31s/it]
 26%|██▌       | 234/900 [14:56<50:00,  4.51s/it]  
 26%|██▌       | 235/900 [14:56<35:55,  3.24s/it]
 26%|██▌       | 236/900 [14:56<26:03,  2.35s/it]
 26%|██▋       | 237/900 [14:56<19:04,  1.73s/it]
 26%|██▋       | 238/900 [14:57<14:12,  1.29s/it]
 27%|██▋       | 239/900 [14:57<10:47,  1.02it/s]
 27%|██▋       | 240/900 [14:57<08:25,  1.31it/s]
 27%|██▋       | 241/900 [15:23<1:29:59,  8.19s/it]
 27%|██▋       | 242/900 [15:23<1:03:46,  5.82s/it]
 27%|██▋       | 243/900 [15:23<45:26,  4.15s/it]  
 27%|██▋       | 244/900 [15:24<32:37,  2.98s/it]
 27%|██▋       | 245/900 [15:24<23:39,  2.17s/it]
 27%|██▋       | 246/900 [15:24<17:23,  1.60s/it]
 27%|██▋       | 247/900 [15:24<13:01,  1.20s/it]
 28%|██▊       | 248/900 [15:25<09:57,  1.09it/s]
 28%|██▊       | 249/900 [16:00<2:01:08, 11.17s/it]
 28%|██▊       | 250/900 [16:00<1:25:36,  7.90s/it]
 28%|██▊       | 251/900 [16:00<1:00:45,  5.62s/it]
 28%|██▊       | 252/900 [16:01<43:22,  4.02s/it]  
 28%|██▊       | 253/900 [16:01<31:13,  2.90s/it]
 28%|██▊       | 254/900 [16:01<22:43,  2.11s/it]
 28%|██▊       | 255/900 [16:01<16:46,  1.56s/it]
 28%|██▊       | 256/900 [16:02<12:37,  1.18s/it]
 29%|██▊       | 257/900 [16:43<2:20:06, 13.07s/it]
 29%|██▊       | 258/900 [16:43<1:38:47,  9.23s/it]
 29%|██▉       | 259/900 [16:43<1:09:53,  6.54s/it]
 29%|██▉       | 260/900 [16:43<49:41,  4.66s/it]  
 29%|██▉       | 261/900 [16:44<35:33,  3.34s/it]
 29%|██▉       | 262/900 [16:44<25:41,  2.42s/it]
 29%|██▉       | 263/900 [16:44<18:47,  1.77s/it]
 29%|██▉       | 264/900 [16:44<13:58,  1.32s/it]
 29%|██▉       | 265/900 [17:13<1:39:07,  9.37s/it]
 30%|██▉       | 266/900 [17:13<1:10:06,  6.64s/it]
 30%|██▉       | 267/900 [17:13<49:49,  4.72s/it]  
 30%|██▉       | 268/900 [17:13<35:39,  3.39s/it]
 30%|██▉       | 269/900 [17:14<25:44,  2.45s/it]
 30%|███       | 270/900 [17:14<18:49,  1.79s/it]
 30%|███       | 271/900 [17:14<13:58,  1.33s/it]
 30%|███       | 272/900 [17:14<10:34,  1.01s/it]
 30%|███       | 273/900 [17:52<2:06:45, 12.13s/it]
 30%|███       | 274/900 [17:53<1:29:25,  8.57s/it]
 31%|███       | 275/900 [17:53<1:03:19,  6.08s/it]
 31%|███       | 276/900 [17:53<45:04,  4.33s/it]  
 31%|███       | 277/900 [17:53<32:20,  3.11s/it]
 31%|███       | 278/900 [17:54<23:25,  2.26s/it]
 31%|███       | 279/900 [17:54<17:11,  1.66s/it]
 31%|███       | 280/900 [17:54<12:49,  1.24s/it]
 31%|███       | 281/900 [18:19<1:24:17,  8.17s/it]
 31%|███▏      | 282/900 [18:19<59:42,  5.80s/it]  
 31%|███▏      | 283/900 [18:19<42:31,  4.14s/it]
 32%|███▏      | 284/900 [18:19<30:32,  2.97s/it]
 32%|███▏      | 285/900 [18:20<22:10,  2.16s/it]
 32%|███▏      | 286/900 [18:20<16:16,  1.59s/it]
 32%|███▏      | 287/900 [18:20<12:11,  1.19s/it]
 32%|███▏      | 288/900 [18:20<09:19,  1.09it/s]
 32%|███▏      | 289/900 [19:01<2:09:37, 12.73s/it]
 32%|███▏      | 290/900 [19:01<1:31:23,  8.99s/it]
 32%|███▏      | 291/900 [19:01<1:04:40,  6.37s/it]
 32%|███▏      | 292/900 [19:02<46:00,  4.54s/it]  
 33%|███▎      | 293/900 [19:02<32:57,  3.26s/it]
 33%|███▎      | 294/900 [19:02<23:49,  2.36s/it]
 33%|███▎      | 295/900 [19:02<17:26,  1.73s/it]
 33%|███▎      | 296/900 [19:03<13:08,  1.31s/it]
 33%|███▎      | 297/900 [20:17<3:52:42, 23.16s/it]
 33%|███▎      | 298/900 [20:17<2:43:26, 16.29s/it]
 33%|███▎      | 299/900 [20:17<1:55:00, 11.48s/it]
 33%|███▎      | 300/900 [20:18<1:21:10,  8.12s/it]
 33%|███▎      | 301/900 [20:18<57:31,  5.76s/it]  
 34%|███▎      | 302/900 [20:18<41:00,  4.11s/it]
 34%|███▎      | 303/900 [20:18<29:27,  2.96s/it]
 34%|███▍      | 304/900 [20:19<21:24,  2.16s/it]
 34%|███▍      | 305/900 [21:33<3:55:54, 23.79s/it]
 34%|███▍      | 306/900 [21:33<2:45:40, 16.73s/it]
 34%|███▍      | 307/900 [21:33<1:56:35, 11.80s/it]
 34%|███▍      | 308/900 [21:34<1:22:18,  8.34s/it]
 34%|███▍      | 309/900 [21:34<58:20,  5.92s/it]  
 34%|███▍      | 310/900 [21:34<41:36,  4.23s/it]
 35%|███▍      | 311/900 [21:35<29:56,  3.05s/it]
 35%|███▍      | 312/900 [21:35<21:47,  2.22s/it]
 35%|███▍      | 313/900 [22:08<1:52:23, 11.49s/it]
 35%|███▍      | 314/900 [22:08<1:19:26,  8.13s/it]
 35%|███▌      | 315/900 [22:09<56:22,  5.78s/it]  
 35%|███▌      | 316/900 [22:09<40:14,  4.13s/it]
 35%|███▌      | 317/900 [22:09<28:58,  2.98s/it]
 35%|███▌      | 318/900 [22:10<21:07,  2.18s/it]
 35%|███▌      | 319/900 [22:10<15:36,  1.61s/it]
 36%|███▌      | 320/900 [22:10<11:45,  1.22s/it]
 36%|███▌      | 321/900 [23:04<2:44:50, 17.08s/it]
 36%|███▌      | 322/900 [23:04<1:56:02, 12.05s/it]
 36%|███▌      | 323/900 [23:05<1:21:57,  8.52s/it]
 36%|███▌      | 324/900 [23:05<58:07,  6.05s/it]  
 36%|███▌      | 325/900 [23:05<41:28,  4.33s/it]
 36%|███▌      | 326/900 [23:06<29:49,  3.12s/it]
 36%|███▋      | 327/900 [23:06<21:41,  2.27s/it]
 36%|███▋      | 328/900 [23:06<16:00,  1.68s/it]
 37%|███▋      | 329/900 [23:29<1:15:02,  7.89s/it]
 37%|███▋      | 330/900 [23:29<53:17,  5.61s/it]  
 37%|███▋      | 331/900 [23:29<38:04,  4.01s/it]
 37%|███▋      | 332/900 [23:30<27:26,  2.90s/it]
 37%|███▋      | 333/900 [23:30<19:59,  2.12s/it]
 37%|███▋      | 334/900 [23:30<14:46,  1.57s/it]
 37%|███▋      | 335/900 [23:30<11:09,  1.19s/it]
 37%|███▋      | 336/900 [23:31<08:37,  1.09it/s]
 37%|███▋      | 337/900 [26:06<7:23:06, 47.22s/it]
 38%|███▊      | 338/900 [26:06<5:10:28, 33.15s/it]
 38%|███▊      | 339/900 [26:07<3:37:45, 23.29s/it]
 38%|███▊      | 340/900 [26:07<2:32:59, 16.39s/it]
 38%|███▊      | 341/900 [26:07<1:47:42, 11.56s/it]
 38%|███▊      | 342/900 [26:07<1:16:04,  8.18s/it]
 38%|███▊      | 343/900 [26:08<53:58,  5.81s/it]  
 38%|███▊      | 344/900 [26:08<38:32,  4.16s/it]
 38%|███▊      | 345/900 [26:36<1:45:19, 11.39s/it]
 38%|███▊      | 346/900 [26:37<1:14:19,  8.05s/it]
 39%|███▊      | 347/900 [26:37<52:40,  5.72s/it]  
 39%|███▊      | 348/900 [26:37<37:32,  4.08s/it]
 39%|███▉      | 349/900 [26:37<26:58,  2.94s/it]
 39%|███▉      | 350/900 [26:38<19:35,  2.14s/it]
 39%|███▉      | 351/900 [26:38<14:24,  1.57s/it]
 39%|███▉      | 352/900 [26:38<10:47,  1.18s/it]
 39%|███▉      | 353/900 [27:32<2:33:54, 16.88s/it]
 39%|███▉      | 354/900 [27:32<1:48:15, 11.90s/it]
 39%|███▉      | 355/900 [27:32<1:16:22,  8.41s/it]
 40%|███▉      | 356/900 [27:32<54:04,  5.96s/it]  
 40%|███▉      | 357/900 [27:33<38:30,  4.25s/it]
 40%|███▉      | 358/900 [27:33<27:36,  3.06s/it]
 40%|███▉      | 359/900 [27:33<20:00,  2.22s/it]
 40%|████      | 360/900 [27:34<14:42,  1.63s/it]
 40%|████      | 361/900 [28:06<1:37:00, 10.80s/it]
 40%|████      | 362/900 [28:06<1:08:29,  7.64s/it]
 40%|████      | 363/900 [28:06<48:33,  5.43s/it]  
 40%|████      | 364/900 [28:06<34:38,  3.88s/it]
 41%|████      | 365/900 [28:07<24:54,  2.79s/it]
 41%|████      | 366/900 [28:07<18:07,  2.04s/it]
 41%|████      | 367/900 [28:07<13:21,  1.50s/it]
 41%|████      | 368/900 [28:08<10:02,  1.13s/it]
 41%|████      | 369/900 [29:39<4:10:33, 28.31s/it]
 41%|████      | 370/900 [29:40<2:55:46, 19.90s/it]
 41%|████      | 371/900 [29:40<2:03:30, 14.01s/it]
 41%|████▏     | 372/900 [29:40<1:26:58,  9.88s/it]
 41%|████▏     | 373/900 [29:40<1:01:27,  7.00s/it]
 42%|████▏     | 374/900 [29:41<43:39,  4.98s/it]  
 42%|████▏     | 375/900 [29:41<31:13,  3.57s/it]
 42%|████▏     | 376/900 [29:41<22:31,  2.58s/it]
 42%|████▏     | 377/900 [31:31<5:02:24, 34.69s/it]
 42%|████▏     | 378/900 [31:31<3:31:58, 24.36s/it]
 42%|████▏     | 379/900 [31:31<2:28:46, 17.13s/it]
 42%|████▏     | 380/900 [31:32<1:44:37, 12.07s/it]
 42%|████▏     | 381/900 [31:32<1:13:46,  8.53s/it]
 42%|████▏     | 382/900 [31:32<52:13,  6.05s/it]  
 43%|████▎     | 383/900 [31:32<37:10,  4.31s/it]
 43%|████▎     | 384/900 [31:33<26:40,  3.10s/it]
 43%|████▎     | 385/900 [32:15<2:09:00, 15.03s/it]
 43%|████▎     | 386/900 [32:16<1:30:50, 10.60s/it]
 43%|████▎     | 387/900 [32:16<1:04:08,  7.50s/it]
 43%|████▎     | 388/900 [32:16<45:29,  5.33s/it]  
 43%|████▎     | 389/900 [32:17<32:27,  3.81s/it]
 43%|████▎     | 390/900 [32:17<23:21,  2.75s/it]
 43%|████▎     | 391/900 [32:17<16:58,  2.00s/it]
 44%|████▎     | 392/900 [32:17<12:31,  1.48s/it]
 44%|████▎     | 393/900 [33:30<3:12:49, 22.82s/it]
 44%|████▍     | 394/900 [33:30<2:15:23, 16.05s/it]
 44%|████▍     | 395/900 [33:30<1:35:15, 11.32s/it]
 44%|████▍     | 396/900 [33:31<1:07:12,  8.00s/it]
 44%|████▍     | 397/900 [33:31<47:36,  5.68s/it]  
 44%|████▍     | 398/900 [33:31<33:55,  4.05s/it]
 44%|████▍     | 399/900 [33:32<24:21,  2.92s/it]
 44%|████▍     | 400/900 [33:32<17:40,  2.12s/it]
 45%|████▍     | 401/900 [34:27<2:28:53, 17.90s/it]
 45%|████▍     | 402/900 [34:27<1:44:43, 12.62s/it]
 45%|████▍     | 403/900 [34:27<1:13:52,  8.92s/it]
 45%|████▍     | 404/900 [34:27<52:19,  6.33s/it]  
 45%|████▌     | 405/900 [34:28<37:15,  4.52s/it]
 45%|████▌     | 406/900 [34:28<26:42,  3.24s/it]
 45%|████▌     | 407/900 [34:28<19:21,  2.36s/it]
 45%|████▌     | 408/900 [34:29<14:13,  1.73s/it]
 45%|████▌     | 409/900 [36:39<5:29:24, 40.25s/it]
 46%|████▌     | 410/900 [36:39<3:50:48, 28.26s/it]
 46%|████▌     | 411/900 [36:39<2:41:55, 19.87s/it]
 46%|████▌     | 412/900 [36:40<1:53:48, 13.99s/it]
 46%|████▌     | 413/900 [36:40<1:20:11,  9.88s/it]
 46%|████▌     | 414/900 [36:40<56:42,  7.00s/it]  
 46%|████▌     | 415/900 [36:40<40:17,  4.99s/it]
 46%|████▌     | 416/900 [36:41<28:50,  3.58s/it]
 46%|████▋     | 417/900 [37:12<1:35:20, 11.84s/it]
 46%|████▋     | 418/900 [37:12<1:07:18,  8.38s/it]
 47%|████▋     | 419/900 [37:12<47:41,  5.95s/it]  
 47%|████▋     | 420/900 [37:13<34:00,  4.25s/it]
 47%|████▋     | 421/900 [37:13<24:26,  3.06s/it]
 47%|████▋     | 422/900 [37:13<17:46,  2.23s/it]
 47%|████▋     | 423/900 [37:14<13:05,  1.65s/it]
 47%|████▋     | 424/900 [37:14<09:50,  1.24s/it]
 47%|████▋     | 425/900 [38:14<2:30:10, 18.97s/it]
 47%|████▋     | 426/900 [38:14<1:45:35, 13.37s/it]
 47%|████▋     | 427/900 [38:15<1:14:26,  9.44s/it]
 48%|████▊     | 428/900 [38:15<52:40,  6.70s/it]  
 48%|████▊     | 429/900 [38:15<37:28,  4.77s/it]
 48%|████▊     | 430/900 [38:16<26:51,  3.43s/it]
 48%|████▊     | 431/900 [38:16<19:26,  2.49s/it]
 48%|████▊     | 432/900 [38:16<14:15,  1.83s/it]
 48%|████▊     | 433/900 [39:16<2:30:35, 19.35s/it]
 48%|████▊     | 434/900 [39:17<1:45:52, 13.63s/it]
 48%|████▊     | 435/900 [39:17<1:14:37,  9.63s/it]
 48%|████▊     | 436/900 [39:17<52:49,  6.83s/it]  
 49%|████▊     | 437/900 [39:18<37:34,  4.87s/it]
 49%|████▊     | 438/900 [39:18<26:54,  3.49s/it]
 49%|████▉     | 439/900 [39:18<19:27,  2.53s/it]
 49%|████▉     | 440/900 [39:18<14:15,  1.86s/it]
 49%|████▉     | 441/900 [40:20<2:30:50, 19.72s/it]
 49%|████▉     | 442/900 [40:20<1:46:00, 13.89s/it]
 49%|████▉     | 443/900 [40:20<1:14:42,  9.81s/it]
 49%|████▉     | 444/900 [40:21<52:50,  6.95s/it]  
 49%|████▉     | 445/900 [40:21<37:40,  4.97s/it]
 50%|████▉     | 446/900 [40:21<26:58,  3.56s/it]
 50%|████▉     | 447/900 [40:22<19:29,  2.58s/it]
 50%|████▉     | 448/900 [40:22<14:16,  1.89s/it]
 50%|████▉     | 449/900 [41:10<1:57:42, 15.66s/it]
 50%|█████     | 450/900 [41:10<1:22:53, 11.05s/it]
 50%|█████     | 451/900 [41:10<58:32,  7.82s/it]  
 50%|█████     | 452/900 [41:11<41:32,  5.56s/it]
 50%|█████     | 453/900 [41:11<29:39,  3.98s/it]
 50%|█████     | 454/900 [41:11<21:21,  2.87s/it]
 51%|█████     | 455/900 [41:11<15:34,  2.10s/it]
 51%|█████     | 456/900 [41:12<11:31,  1.56s/it]
 51%|█████     | 457/900 [41:51<1:35:46, 12.97s/it]
 51%|█████     | 458/900 [41:52<1:07:33,  9.17s/it]
 51%|█████     | 459/900 [41:52<47:48,  6.51s/it]  
 51%|█████     | 460/900 [41:52<34:01,  4.64s/it]
 51%|█████     | 461/900 [41:52<24:23,  3.33s/it]
 51%|█████▏    | 462/900 [41:53<17:40,  2.42s/it]
 51%|█████▏    | 463/900 [41:53<12:58,  1.78s/it]
 52%|█████▏    | 464/900 [41:53<09:41,  1.33s/it]
 52%|█████▏    | 464/900 [42:28<39:54,  5.49s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json.
+RedItemsInBinTask_1 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 465, duration: 31.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.73832332578686, 'joint_sparc_mean': -13.106097168248843, 'ee_isj': 2459.999667938285, 'joint_isj': 289829.2959689796, 'ee_path_length': 4.202821839528713, 'joint_rmse_mean': 1.0405789169543447, 'ee_speed_max': 0.5794832706451416, 'ee_speed_mean': 0.12900565564632416}, events: {'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 12, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 2433.007, 'policy_inference_avg_ms': 5232.3, 'env_step_s': 111.41, 'env_step_avg_ms': 239.6, 'video_write_s': 3.549, 'video_write_avg_ms': 7.6, 'wall_total_s': 2547.966, 'it_per_sec': 0.18}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 1e83c9569bcb4e84a7788289e944f2ac-1
+[RoboLab] Running RedItemsInBinTask_2: 'Put all the red things in the grey bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:34<8:41:56, 34.84s/it]
  0%|          | 2/900 [00:35<3:37:08, 14.51s/it]
  0%|          | 3/900 [00:35<1:59:40,  8.00s/it]
  0%|          | 4/900 [00:35<1:13:55,  4.95s/it]
  1%|          | 5/900 [00:35<48:38,  3.26s/it]  
  1%|          | 6/900 [00:36<33:24,  2.24s/it]
  1%|          | 7/900 [00:36<23:45,  1.60s/it]
  1%|          | 8/900 [00:36<17:26,  1.17s/it]
  1%|          | 9/900 [00:53<1:28:27,  5.96s/it]
  1%|          | 10/900 [00:53<1:02:16,  4.20s/it]
  1%|          | 11/900 [00:53<44:21,  2.99s/it]  
  1%|▏         | 12/900 [00:53<32:01,  2.16s/it]
  1%|▏         | 13/900 [00:54<23:29,  1.59s/it]
  2%|▏         | 14/900 [00:54<17:33,  1.19s/it]
  2%|▏         | 15/900 [00:54<13:26,  1.10it/s]
  2%|▏         | 16/900 [00:55<10:33,  1.40it/s]
  2%|▏         | 17/900 [01:10<1:16:18,  5.19s/it]
  2%|▏         | 18/900 [01:10<54:29,  3.71s/it]  
  2%|▏         | 19/900 [01:11<39:14,  2.67s/it]
  2%|▏         | 20/900 [01:11<28:35,  1.95s/it]
  2%|▏         | 21/900 [01:11<21:10,  1.45s/it]
  2%|▏         | 22/900 [01:11<15:58,  1.09s/it]
  3%|▎         | 23/900 [01:12<12:22,  1.18it/s]
  3%|▎         | 24/900 [01:12<09:52,  1.48it/s]
  3%|▎         | 25/900 [01:36<1:53:45,  7.80s/it]
  3%|▎         | 26/900 [01:37<1:20:45,  5.54s/it]
  3%|▎         | 27/900 [01:37<57:42,  3.97s/it]  
  3%|▎         | 28/900 [01:37<41:34,  2.86s/it]
  3%|▎         | 29/900 [01:38<30:16,  2.09s/it]
  3%|▎         | 30/900 [01:38<22:22,  1.54s/it]
  3%|▎         | 31/900 [01:38<16:50,  1.16s/it]
  4%|▎         | 32/900 [01:38<12:58,  1.12it/s]
  4%|▎         | 33/900 [02:00<1:44:46,  7.25s/it]
  4%|▍         | 34/900 [02:01<1:14:29,  5.16s/it]
  4%|▍         | 35/900 [02:01<53:20,  3.70s/it]  
  4%|▍         | 36/900 [02:01<38:32,  2.68s/it]
  4%|▍         | 37/900 [02:02<28:11,  1.96s/it]
  4%|▍         | 38/900 [02:02<20:56,  1.46s/it]
  4%|▍         | 39/900 [02:02<15:52,  1.11s/it]
  4%|▍         | 40/900 [02:02<12:14,  1.17it/s]
  5%|▍         | 41/900 [02:36<2:31:19, 10.57s/it]
  5%|▍         | 42/900 [02:36<1:46:57,  7.48s/it]
  5%|▍         | 43/900 [02:36<1:15:55,  5.32s/it]
  5%|▍         | 44/900 [02:36<54:14,  3.80s/it]  
  5%|▌         | 45/900 [02:37<39:05,  2.74s/it]
  5%|▌         | 46/900 [02:37<28:29,  2.00s/it]
  5%|▌         | 47/900 [02:37<21:04,  1.48s/it]
  5%|▌         | 48/900 [02:38<15:53,  1.12s/it]
  5%|▌         | 49/900 [03:04<2:04:02,  8.75s/it]
  6%|▌         | 50/900 [03:04<1:27:51,  6.20s/it]
  6%|▌         | 51/900 [03:05<1:02:33,  4.42s/it]
  6%|▌         | 52/900 [03:05<44:52,  3.17s/it]  
  6%|▌         | 53/900 [03:05<32:29,  2.30s/it]
  6%|▌         | 54/900 [03:05<23:49,  1.69s/it]
  6%|▌         | 55/900 [03:06<17:47,  1.26s/it]
  6%|▌         | 56/900 [03:06<13:33,  1.04it/s]
  6%|▋         | 57/900 [04:07<4:27:22, 19.03s/it]
  6%|▋         | 58/900 [04:07<3:08:10, 13.41s/it]
  7%|▋         | 59/900 [04:08<2:12:46,  9.47s/it]
  7%|▋         | 60/900 [04:08<1:34:03,  6.72s/it]
  7%|▋         | 61/900 [04:08<1:06:57,  4.79s/it]
  7%|▋         | 62/900 [04:09<48:01,  3.44s/it]  
  7%|▋         | 63/900 [04:09<34:46,  2.49s/it]
  7%|▋         | 64/900 [04:09<25:30,  1.83s/it]
  7%|▋         | 65/900 [04:30<1:46:49,  7.68s/it]
  7%|▋         | 66/900 [04:31<1:15:53,  5.46s/it]
  7%|▋         | 67/900 [04:31<54:10,  3.90s/it]  
  8%|▊         | 68/900 [04:31<38:57,  2.81s/it]
  8%|▊         | 69/900 [04:32<28:19,  2.04s/it]
  8%|▊         | 70/900 [04:32<20:53,  1.51s/it]
  8%|▊         | 71/900 [04:32<15:41,  1.14s/it]
  8%|▊         | 72/900 [04:32<12:02,  1.15it/s]
  8%|▊         | 73/900 [05:15<3:05:37, 13.47s/it]
  8%|▊         | 74/900 [05:15<2:10:53,  9.51s/it]
  8%|▊         | 75/900 [05:16<1:32:36,  6.73s/it]
  8%|▊         | 76/900 [05:16<1:05:51,  4.80s/it]
  9%|▊         | 77/900 [05:16<47:10,  3.44s/it]  
  9%|▊         | 78/900 [05:17<34:07,  2.49s/it]
  9%|▉         | 79/900 [05:17<24:56,  1.82s/it]
  9%|▉         | 80/900 [05:17<18:38,  1.36s/it]
  9%|▉         | 81/900 [06:26<4:55:20, 21.64s/it]
  9%|▉         | 82/900 [06:26<3:27:40, 15.23s/it]
  9%|▉         | 83/900 [06:27<2:26:23, 10.75s/it]
  9%|▉         | 84/900 [06:27<1:43:30,  7.61s/it]
  9%|▉         | 85/900 [06:27<1:13:33,  5.42s/it]
 10%|▉         | 86/900 [06:28<52:36,  3.88s/it]  
 10%|▉         | 87/900 [06:28<37:59,  2.80s/it]
 10%|▉         | 88/900 [06:28<27:44,  2.05s/it]
 10%|▉         | 89/900 [07:01<2:31:57, 11.24s/it]
 10%|█         | 90/900 [07:01<1:47:27,  7.96s/it]
 10%|█         | 91/900 [07:01<1:16:19,  5.66s/it]
 10%|█         | 92/900 [07:02<54:32,  4.05s/it]  
 10%|█         | 93/900 [07:02<39:18,  2.92s/it]
 10%|█         | 94/900 [07:02<28:39,  2.13s/it]
 11%|█         | 95/900 [07:03<21:12,  1.58s/it]
 11%|█         | 96/900 [07:03<15:59,  1.19s/it]
 11%|█         | 97/900 [07:27<1:48:38,  8.12s/it]
 11%|█         | 98/900 [07:27<1:17:05,  5.77s/it]
 11%|█         | 99/900 [07:28<55:03,  4.12s/it]  
 11%|█         | 100/900 [07:28<39:38,  2.97s/it]
 11%|█         | 101/900 [07:28<28:52,  2.17s/it]
 11%|█▏        | 102/900 [07:29<21:19,  1.60s/it]
 11%|█▏        | 103/900 [07:29<16:03,  1.21s/it]
 12%|█▏        | 104/900 [07:29<12:22,  1.07it/s]
 12%|█▏        | 105/900 [08:26<3:54:09, 17.67s/it]
 12%|█▏        | 106/900 [08:26<2:44:52, 12.46s/it]
 12%|█▏        | 107/900 [08:26<1:56:24,  8.81s/it]
 12%|█▏        | 108/900 [08:27<1:22:32,  6.25s/it]
 12%|█▏        | 109/900 [08:27<58:51,  4.46s/it]  
 12%|█▏        | 110/900 [08:27<42:17,  3.21s/it]
 12%|█▏        | 111/900 [08:28<30:41,  2.33s/it]
 12%|█▏        | 112/900 [08:28<22:35,  1.72s/it]
 13%|█▎        | 113/900 [08:56<2:05:27,  9.57s/it]
 13%|█▎        | 114/900 [08:56<1:28:51,  6.78s/it]
 13%|█▎        | 115/900 [08:56<1:03:16,  4.84s/it]
 13%|█▎        | 116/900 [08:57<45:22,  3.47s/it]  
 13%|█▎        | 117/900 [08:57<32:50,  2.52s/it]
 13%|█▎        | 118/900 [08:57<24:06,  1.85s/it]
 13%|█▎        | 119/900 [08:58<17:57,  1.38s/it]
 13%|█▎        | 120/900 [08:58<13:40,  1.05s/it]
 13%|█▎        | 121/900 [09:55<3:51:27, 17.83s/it]
 14%|█▎        | 122/900 [09:55<2:42:57, 12.57s/it]
 14%|█▎        | 123/900 [09:55<1:55:04,  8.89s/it]
 14%|█▍        | 124/900 [09:56<1:21:35,  6.31s/it]
 14%|█▍        | 125/900 [09:56<58:10,  4.50s/it]  
 14%|█▍        | 126/900 [09:56<41:49,  3.24s/it]
 14%|█▍        | 127/900 [09:57<30:22,  2.36s/it]
 14%|█▍        | 128/900 [09:57<22:20,  1.74s/it]
 14%|█▍        | 129/900 [10:27<2:10:16, 10.14s/it]
 14%|█▍        | 130/900 [10:27<1:32:13,  7.19s/it]
 15%|█▍        | 131/900 [10:27<1:05:36,  5.12s/it]
 15%|█▍        | 132/900 [10:27<46:57,  3.67s/it]  
 15%|█▍        | 133/900 [10:28<33:55,  2.65s/it]
 15%|█▍        | 134/900 [10:28<24:49,  1.94s/it]
 15%|█▌        | 135/900 [10:28<18:28,  1.45s/it]
 15%|█▌        | 136/900 [10:29<14:00,  1.10s/it]
 15%|█▌        | 137/900 [11:17<3:13:47, 15.24s/it]
 15%|█▌        | 138/900 [11:17<2:16:29, 10.75s/it]
 15%|█▌        | 139/900 [11:17<1:36:28,  7.61s/it]
 16%|█▌        | 140/900 [11:18<1:08:28,  5.41s/it]
 16%|█▌        | 141/900 [11:18<48:52,  3.86s/it]  
 16%|█▌        | 142/900 [11:18<35:11,  2.79s/it]
 16%|█▌        | 143/900 [11:18<25:36,  2.03s/it]
 16%|█▌        | 144/900 [11:19<18:53,  1.50s/it]
 16%|█▌        | 145/900 [12:38<5:13:57, 24.95s/it]
 16%|█▌        | 146/900 [12:39<3:40:28, 17.54s/it]
 16%|█▋        | 147/900 [12:39<2:35:07, 12.36s/it]
 16%|█▋        | 148/900 [12:39<1:49:26,  8.73s/it]
 17%|█▋        | 149/900 [12:39<1:17:30,  6.19s/it]
 17%|█▋        | 150/900 [12:40<55:10,  4.41s/it]  
 17%|█▋        | 151/900 [12:40<39:33,  3.17s/it]
 17%|█▋        | 152/900 [12:40<28:38,  2.30s/it]
 17%|█▋        | 153/900 [12:57<1:23:17,  6.69s/it]
 17%|█▋        | 154/900 [12:57<59:11,  4.76s/it]  
 17%|█▋        | 155/900 [12:58<42:21,  3.41s/it]
 17%|█▋        | 156/900 [12:58<30:35,  2.47s/it]
 17%|█▋        | 157/900 [12:58<22:21,  1.81s/it]
 18%|█▊        | 158/900 [12:58<16:36,  1.34s/it]
 18%|█▊        | 159/900 [12:59<12:35,  1.02s/it]
 18%|█▊        | 160/900 [12:59<09:46,  1.26it/s]
 18%|█▊        | 161/900 [13:48<3:08:12, 15.28s/it]
 18%|█▊        | 162/900 [13:48<2:12:32, 10.78s/it]
 18%|█▊        | 163/900 [13:49<1:33:37,  7.62s/it]
 18%|█▊        | 164/900 [13:49<1:06:24,  5.41s/it]
 18%|█▊        | 165/900 [13:49<47:22,  3.87s/it]  
 18%|█▊        | 166/900 [13:49<34:05,  2.79s/it]
 19%|█▊        | 167/900 [13:50<24:47,  2.03s/it]
 19%|█▊        | 168/900 [13:50<18:19,  1.50s/it]
 19%|█▉        | 169/900 [15:09<5:02:48, 24.85s/it]
 19%|█▉        | 170/900 [15:10<3:32:39, 17.48s/it]
 19%|█▉        | 171/900 [15:10<2:29:35, 12.31s/it]
 19%|█▉        | 172/900 [15:10<1:45:32,  8.70s/it]
 19%|█▉        | 173/900 [15:10<1:14:43,  6.17s/it]
 19%|█▉        | 174/900 [15:11<53:12,  4.40s/it]  
 19%|█▉        | 175/900 [15:11<38:08,  3.16s/it]
 20%|█▉        | 176/900 [15:11<27:37,  2.29s/it]
 20%|█▉        | 177/900 [16:27<4:53:30, 24.36s/it]
 20%|█▉        | 178/900 [16:27<3:26:07, 17.13s/it]
 20%|█▉        | 179/900 [16:28<2:25:01, 12.07s/it]
 20%|██        | 180/900 [16:28<1:42:20,  8.53s/it]
 20%|██        | 181/900 [16:28<1:12:30,  6.05s/it]
 20%|██        | 182/900 [16:28<51:38,  4.32s/it]  
 20%|██        | 183/900 [16:29<37:02,  3.10s/it]
 20%|██        | 184/900 [16:29<26:51,  2.25s/it]
 21%|██        | 185/900 [16:56<1:54:42,  9.63s/it]
 21%|██        | 186/900 [16:56<1:21:08,  6.82s/it]
 21%|██        | 187/900 [16:56<57:39,  4.85s/it]  
 21%|██        | 188/900 [16:56<41:15,  3.48s/it]
 21%|██        | 189/900 [16:57<29:46,  2.51s/it]
 21%|██        | 190/900 [16:57<21:46,  1.84s/it]
 21%|██        | 191/900 [16:57<16:11,  1.37s/it]
 21%|██▏       | 192/900 [16:58<12:19,  1.04s/it]
 21%|██▏       | 193/900 [17:21<1:32:42,  7.87s/it]
 22%|██▏       | 194/900 [17:22<1:05:45,  5.59s/it]
 22%|██▏       | 195/900 [17:22<46:55,  3.99s/it]  
 22%|██▏       | 196/900 [17:22<33:45,  2.88s/it]
 22%|██▏       | 197/900 [17:22<24:34,  2.10s/it]
 22%|██▏       | 198/900 [17:23<18:08,  1.55s/it]
 22%|██▏       | 199/900 [17:23<13:39,  1.17s/it]
 22%|██▏       | 200/900 [17:23<10:30,  1.11it/s]
 22%|██▏       | 201/900 [17:45<1:22:04,  7.05s/it]
 22%|██▏       | 202/900 [17:45<58:21,  5.02s/it]  
 23%|██▎       | 203/900 [17:45<41:45,  3.60s/it]
 23%|██▎       | 204/900 [17:45<30:09,  2.60s/it]
 23%|██▎       | 205/900 [17:46<22:03,  1.90s/it]
 23%|██▎       | 206/900 [17:46<16:23,  1.42s/it]
 23%|██▎       | 207/900 [17:46<12:25,  1.08s/it]
 23%|██▎       | 208/900 [17:47<09:38,  1.20it/s]
 23%|██▎       | 209/900 [18:39<3:07:48, 16.31s/it]
 23%|██▎       | 210/900 [18:39<2:12:16, 11.50s/it]
 23%|██▎       | 211/900 [18:40<1:33:27,  8.14s/it]
 24%|██▎       | 212/900 [18:40<1:06:18,  5.78s/it]
 24%|██▎       | 213/900 [18:40<47:20,  4.13s/it]  
 24%|██▍       | 214/900 [18:40<34:05,  2.98s/it]
 24%|██▍       | 215/900 [18:41<24:50,  2.18s/it]
 24%|██▍       | 216/900 [18:41<18:21,  1.61s/it]
 24%|██▍       | 217/900 [19:02<1:25:08,  7.48s/it]
 24%|██▍       | 218/900 [19:03<1:00:31,  5.32s/it]
 24%|██▍       | 219/900 [19:03<43:17,  3.81s/it]  
 24%|██▍       | 220/900 [19:03<31:14,  2.76s/it]
 25%|██▍       | 221/900 [19:03<22:49,  2.02s/it]
 25%|██▍       | 222/900 [19:04<16:55,  1.50s/it]
 25%|██▍       | 223/900 [19:04<12:48,  1.14s/it]
 25%|██▍       | 224/900 [19:04<09:56,  1.13it/s]
 25%|██▌       | 225/900 [19:27<1:22:16,  7.31s/it]
 25%|██▌       | 226/900 [19:27<58:31,  5.21s/it]  
 25%|██▌       | 227/900 [19:27<41:53,  3.74s/it]
 25%|██▌       | 228/900 [19:27<30:18,  2.71s/it]
 25%|██▌       | 229/900 [19:28<22:12,  1.99s/it]
 26%|██▌       | 230/900 [19:28<16:34,  1.48s/it]
 26%|██▌       | 231/900 [19:28<12:37,  1.13s/it]
 26%|██▌       | 232/900 [19:29<09:51,  1.13it/s]
 26%|██▌       | 233/900 [19:48<1:11:51,  6.46s/it]
 26%|██▌       | 234/900 [19:49<51:16,  4.62s/it]  
 26%|██▌       | 235/900 [19:49<36:48,  3.32s/it]
 26%|██▌       | 236/900 [19:49<26:41,  2.41s/it]
 26%|██▋       | 237/900 [19:49<19:37,  1.78s/it]
 26%|██▋       | 238/900 [19:50<14:40,  1.33s/it]
 27%|██▋       | 239/900 [19:50<11:15,  1.02s/it]
 27%|██▋       | 240/900 [19:50<08:53,  1.24it/s]
 27%|██▋       | 241/900 [20:12<1:16:55,  7.00s/it]
 27%|██▋       | 242/900 [20:12<54:44,  4.99s/it]  
 27%|██▋       | 243/900 [20:12<39:16,  3.59s/it]
 27%|██▋       | 244/900 [20:13<28:27,  2.60s/it]
 27%|██▋       | 245/900 [20:13<20:51,  1.91s/it]
 27%|██▋       | 246/900 [20:13<15:35,  1.43s/it]
 27%|██▋       | 247/900 [20:14<11:52,  1.09s/it]
 28%|██▊       | 248/900 [20:14<09:16,  1.17it/s]
 28%|██▊       | 249/900 [20:39<1:27:26,  8.06s/it]
 28%|██▊       | 250/900 [20:39<1:02:05,  5.73s/it]
 28%|██▊       | 251/900 [20:39<44:21,  4.10s/it]  
 28%|██▊       | 252/900 [20:40<31:56,  2.96s/it]
 28%|██▊       | 253/900 [20:40<23:16,  2.16s/it]
 28%|██▊       | 254/900 [20:40<17:12,  1.60s/it]
 28%|██▊       | 255/900 [20:40<12:56,  1.20s/it]
 28%|██▊       | 256/900 [20:41<09:58,  1.08it/s]
 28%|██▊       | 256/900 [21:22<53:46,  5.01s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json.
+RedItemsInBinTask_2 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 257, duration: 17.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.819205282791824, 'joint_sparc_mean': -7.27475849810991, 'ee_isj': 1761.4351257610963, 'joint_isj': 20988.069965848736, 'ee_path_length': 2.9661708007463816, 'joint_rmse_mean': 0.9101443679947744, 'ee_speed_max': 0.59592604637146, 'ee_speed_mean': 0.1650938093662262}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 4}, instruction_type: default, timing: {'policy_inference_s': 1216.686, 'policy_inference_avg_ms': 4734.2, 'env_step_s': 63.264, 'env_step_avg_ms': 246.2, 'video_write_s': 2.281, 'video_write_avg_ms': 8.9, 'wall_total_s': 1282.231, 'it_per_sec': 0.2}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 2346f5d93a774695862dde68215c684f-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-02T18:07:31Z [31,561,153ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.191887 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-02T18:07:36Z [31,566,130ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T18:07:36Z [31,566,131ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T18:07:36Z [31,566,140ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-02T18:07:36Z [31,566,140ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T18:07:36Z [31,566,148ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-02T18:07:36Z [31,566,156ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-02T18:07:37Z [31,567,335ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((882))' not available in the MDL representation.
+2026-11-02T18:07:37Z [31,567,335ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((882))' not available in the MDL representation.
+2026-11-02T18:07:38Z [31,568,447ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((882))' not available in the MDL representation.
+2026-11-02T18:07:38Z [31,568,448ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((882))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 7.211935 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MustardInLeftBinTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the mustard in the left bin               │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MustardInLeftBinTaskSceneEnvCfg               │
+│  Attributes  : spatial, simple                               │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MustardInLeftBinTask_0: 'Put the mustard in the left bin' (run 0, 1 envs)
+
  0%|          | 0/450 [00:00<?, ?it/s]
  0%|          | 1/450 [00:53<6:44:03, 53.99s/it]
  0%|          | 2/450 [00:54<2:47:04, 22.38s/it]
  1%|          | 3/450 [00:54<1:31:21, 12.26s/it]
  1%|          | 4/450 [00:54<55:51,  7.51s/it]  
  1%|          | 5/450 [00:54<36:14,  4.89s/it]
  1%|▏         | 6/450 [00:55<24:27,  3.30s/it]
  2%|▏         | 7/450 [00:55<16:58,  2.30s/it]
  2%|▏         | 8/450 [00:55<12:05,  1.64s/it]
  2%|▏         | 9/450 [01:09<39:52,  5.43s/it]
  2%|▏         | 10/450 [01:09<28:01,  3.82s/it]
  2%|▏         | 11/450 [01:09<19:55,  2.72s/it]
  3%|▎         | 12/450 [01:10<14:20,  1.96s/it]
  3%|▎         | 13/450 [01:10<10:28,  1.44s/it]
  3%|▎         | 14/450 [01:10<07:47,  1.07s/it]
  3%|▎         | 15/450 [01:10<05:56,  1.22it/s]
  4%|▎         | 16/450 [01:10<04:38,  1.56it/s]
  4%|▍         | 17/450 [01:28<42:17,  5.86s/it]
  4%|▍         | 18/450 [01:29<30:00,  4.17s/it]
  4%|▍         | 19/450 [01:29<21:26,  2.99s/it]
  4%|▍         | 20/450 [01:29<15:27,  2.16s/it]
  5%|▍         | 21/450 [01:29<11:17,  1.58s/it]
  5%|▍         | 22/450 [01:30<08:22,  1.17s/it]
  5%|▌         | 23/450 [01:30<06:21,  1.12it/s]
  5%|▌         | 24/450 [01:30<04:56,  1.44it/s]
  6%|▌         | 25/450 [01:52<51:01,  7.20s/it]
  6%|▌         | 26/450 [01:53<36:07,  5.11s/it]
  6%|▌         | 27/450 [01:53<25:43,  3.65s/it]
  6%|▌         | 28/450 [01:53<18:27,  2.62s/it]
  6%|▋         | 29/450 [01:53<13:22,  1.91s/it]
  7%|▋         | 30/450 [01:54<09:50,  1.41s/it]
  7%|▋         | 31/450 [01:54<07:21,  1.05s/it]
  7%|▋         | 32/450 [01:54<05:37,  1.24it/s]
  7%|▋         | 33/450 [02:11<39:33,  5.69s/it]
  8%|▊         | 34/450 [02:11<28:08,  4.06s/it]
  8%|▊         | 35/450 [02:12<20:10,  2.92s/it]
  8%|▊         | 36/450 [02:12<14:35,  2.12s/it]
  8%|▊         | 37/450 [02:12<10:42,  1.56s/it]
  8%|▊         | 38/450 [02:12<07:59,  1.16s/it]
  9%|▊         | 39/450 [02:13<06:05,  1.12it/s]
  9%|▉         | 40/450 [02:13<04:45,  1.44it/s]
  9%|▉         | 41/450 [02:29<37:09,  5.45s/it]
  9%|▉         | 42/450 [02:30<26:27,  3.89s/it]
 10%|▉         | 43/450 [02:30<18:58,  2.80s/it]
 10%|▉         | 44/450 [02:30<13:45,  2.03s/it]
 10%|█         | 45/450 [02:30<10:06,  1.50s/it]
 10%|█         | 46/450 [02:31<07:33,  1.12s/it]
 10%|█         | 47/450 [02:31<05:46,  1.16it/s]
 11%|█         | 48/450 [02:31<04:31,  1.48it/s]
 11%|█         | 49/450 [02:40<20:57,  3.14s/it]
 11%|█         | 50/450 [02:40<15:07,  2.27s/it]
 11%|█▏        | 51/450 [02:41<11:04,  1.66s/it]
 12%|█▏        | 52/450 [02:41<08:14,  1.24s/it]
 12%|█▏        | 53/450 [02:41<06:15,  1.06it/s]
 12%|█▏        | 54/450 [02:41<04:50,  1.36it/s]
 12%|█▏        | 55/450 [02:42<03:50,  1.72it/s]
 12%|█▏        | 56/450 [02:42<03:07,  2.10it/s]
 13%|█▎        | 57/450 [02:57<31:57,  4.88s/it]
 13%|█▎        | 58/450 [02:57<22:46,  3.49s/it]
 13%|█▎        | 59/450 [02:57<16:21,  2.51s/it]
 13%|█▎        | 60/450 [02:58<11:52,  1.83s/it]
 14%|█▎        | 61/450 [02:58<08:44,  1.35s/it]
 14%|█▍        | 62/450 [02:58<06:33,  1.01s/it]
 14%|█▍        | 63/450 [02:58<05:02,  1.28it/s]
 14%|█▍        | 64/450 [02:59<03:58,  1.62it/s]
 14%|█▍        | 65/450 [03:24<51:13,  7.98s/it]
 15%|█▍        | 66/450 [03:24<36:12,  5.66s/it]
 15%|█▍        | 67/450 [03:24<25:43,  4.03s/it]
 15%|█▌        | 68/450 [03:24<18:24,  2.89s/it]
 15%|█▌        | 69/450 [03:25<13:17,  2.09s/it]
 16%|█▌        | 70/450 [03:25<09:43,  1.53s/it]
 16%|█▌        | 71/450 [03:25<07:13,  1.14s/it]
 16%|█▌        | 72/450 [03:25<05:28,  1.15it/s]
 16%|█▌        | 73/450 [03:39<28:48,  4.59s/it]
 16%|█▋        | 74/450 [03:39<20:33,  3.28s/it]
 17%|█▋        | 75/450 [03:39<14:46,  2.36s/it]
 17%|█▋        | 76/450 [03:39<10:44,  1.72s/it]
 17%|█▋        | 77/450 [03:40<07:55,  1.28s/it]
 17%|█▋        | 78/450 [03:40<05:58,  1.04it/s]
 18%|█▊        | 79/450 [03:40<04:36,  1.34it/s]
 18%|█▊        | 80/450 [03:40<03:38,  1.69it/s]
 18%|█▊        | 81/450 [04:05<48:47,  7.93s/it]
 18%|█▊        | 82/450 [04:06<34:29,  5.62s/it]
 18%|█▊        | 83/450 [04:06<24:29,  4.00s/it]
 19%|█▊        | 84/450 [04:06<17:31,  2.87s/it]
 19%|█▉        | 85/450 [04:06<12:39,  2.08s/it]
 19%|█▉        | 86/450 [04:06<09:15,  1.53s/it]
 19%|█▉        | 87/450 [04:07<06:52,  1.14s/it]
 20%|█▉        | 88/450 [04:07<05:13,  1.16it/s]
 20%|█▉        | 89/450 [04:40<1:02:49, 10.44s/it]
 20%|██        | 90/450 [04:40<44:16,  7.38s/it]  
 20%|██        | 91/450 [04:40<31:19,  5.23s/it]
 20%|██        | 92/450 [04:40<22:16,  3.73s/it]
 21%|██        | 93/450 [04:41<15:57,  2.68s/it]
 21%|██        | 94/450 [04:41<11:33,  1.95s/it]
 21%|██        | 95/450 [04:41<08:28,  1.43s/it]
 21%|██▏       | 96/450 [04:41<06:20,  1.08s/it]
 22%|██▏       | 97/450 [05:01<39:39,  6.74s/it]
 22%|██▏       | 98/450 [05:02<28:07,  4.79s/it]
 22%|██▏       | 99/450 [05:02<20:04,  3.43s/it]
 22%|██▏       | 100/450 [05:02<14:26,  2.48s/it]
 22%|██▏       | 101/450 [05:02<10:30,  1.81s/it]
 23%|██▎       | 102/450 [05:03<07:46,  1.34s/it]
 23%|██▎       | 103/450 [05:03<05:51,  1.01s/it]
 23%|██▎       | 104/450 [05:03<04:31,  1.27it/s]
 23%|██▎       | 105/450 [05:29<47:44,  8.30s/it]
 24%|██▎       | 106/450 [05:29<33:45,  5.89s/it]
 24%|██▍       | 107/450 [05:29<24:00,  4.20s/it]
 24%|██▍       | 108/450 [05:30<17:10,  3.01s/it]
 24%|██▍       | 109/450 [05:30<12:24,  2.18s/it]
 24%|██▍       | 110/450 [05:30<09:04,  1.60s/it]
 25%|██▍       | 111/450 [05:30<06:45,  1.20s/it]
 25%|██▍       | 112/450 [05:31<05:08,  1.09it/s]
 25%|██▌       | 113/450 [05:47<30:33,  5.44s/it]
 25%|██▌       | 114/450 [05:47<21:45,  3.89s/it]
 26%|██▌       | 115/450 [05:47<15:37,  2.80s/it]
 26%|██▌       | 116/450 [05:47<11:19,  2.04s/it]
 26%|██▌       | 117/450 [05:48<08:19,  1.50s/it]
 26%|██▌       | 118/450 [05:48<06:13,  1.13s/it]
 26%|██▋       | 119/450 [05:48<04:45,  1.16it/s]
 27%|██▋       | 120/450 [05:48<03:44,  1.47it/s]
 27%|██▋       | 121/450 [06:09<36:48,  6.71s/it]
 27%|██▋       | 122/450 [06:10<26:06,  4.78s/it]
 27%|██▋       | 123/450 [06:10<18:36,  3.41s/it]
 28%|██▊       | 124/450 [06:10<13:22,  2.46s/it]
 28%|██▊       | 125/450 [06:10<09:42,  1.79s/it]
 28%|██▊       | 126/450 [06:10<07:09,  1.33s/it]
 28%|██▊       | 127/450 [06:11<05:22,  1.00it/s]
 28%|██▊       | 128/450 [06:11<04:07,  1.30it/s]
 29%|██▊       | 129/450 [07:02<1:24:37, 15.82s/it]
 29%|██▉       | 130/450 [07:02<59:25, 11.14s/it]  
 29%|██▉       | 131/450 [07:02<41:50,  7.87s/it]
 29%|██▉       | 132/450 [07:03<29:34,  5.58s/it]
 30%|██▉       | 133/450 [07:03<21:00,  3.98s/it]
 30%|██▉       | 134/450 [07:03<15:01,  2.85s/it]
 30%|███       | 135/450 [07:03<10:50,  2.07s/it]
 30%|███       | 136/450 [07:03<07:56,  1.52s/it]
 30%|███       | 137/450 [07:20<32:10,  6.17s/it]
 31%|███       | 138/450 [07:21<22:48,  4.39s/it]
 31%|███       | 139/450 [07:21<16:16,  3.14s/it]
 31%|███       | 140/450 [07:21<11:42,  2.27s/it]
 31%|███▏      | 141/450 [07:21<08:31,  1.65s/it]
 32%|███▏      | 142/450 [07:22<06:18,  1.23s/it]
 32%|███▏      | 143/450 [07:22<04:47,  1.07it/s]
 32%|███▏      | 144/450 [07:22<03:43,  1.37it/s]
 32%|███▏      | 145/450 [07:58<57:15, 11.27s/it]
 32%|███▏      | 146/450 [07:58<40:18,  7.96s/it]
 33%|███▎      | 147/450 [07:58<28:28,  5.64s/it]
 33%|███▎      | 148/450 [07:59<20:13,  4.02s/it]
 33%|███▎      | 149/450 [07:59<14:27,  2.88s/it]
 33%|███▎      | 150/450 [07:59<10:26,  2.09s/it]
 34%|███▎      | 151/450 [07:59<07:37,  1.53s/it]
 34%|███▍      | 152/450 [08:00<05:39,  1.14s/it]
 34%|███▍      | 153/450 [08:19<32:39,  6.60s/it]
 34%|███▍      | 154/450 [08:19<23:07,  4.69s/it]
 34%|███▍      | 155/450 [08:19<16:28,  3.35s/it]
 35%|███▍      | 156/450 [08:20<11:49,  2.41s/it]
 35%|███▍      | 157/450 [08:20<08:35,  1.76s/it]
 35%|███▌      | 158/450 [08:20<06:20,  1.30s/it]
 35%|███▌      | 159/450 [08:20<04:45,  1.02it/s]
 36%|███▌      | 160/450 [08:21<03:39,  1.32it/s]
 36%|███▌      | 161/450 [08:36<24:42,  5.13s/it]
 36%|███▌      | 162/450 [08:36<17:36,  3.67s/it]
 36%|███▌      | 163/450 [08:36<12:37,  2.64s/it]
 36%|███▋      | 164/450 [08:37<09:07,  1.92s/it]
 37%|███▋      | 165/450 [08:37<06:41,  1.41s/it]
 37%|███▋      | 166/450 [08:37<04:59,  1.05s/it]
 37%|███▋      | 167/450 [08:37<03:48,  1.24it/s]
 37%|███▋      | 168/450 [08:38<02:59,  1.58it/s]
 38%|███▊      | 169/450 [09:09<46:01,  9.83s/it]
 38%|███▊      | 170/450 [09:09<32:25,  6.95s/it]
 38%|███▊      | 171/450 [09:09<22:56,  4.93s/it]
 38%|███▊      | 172/450 [09:10<16:19,  3.52s/it]
 38%|███▊      | 173/450 [09:10<11:42,  2.54s/it]
 39%|███▊      | 174/450 [09:10<08:29,  1.84s/it]
 39%|███▉      | 175/450 [09:10<06:14,  1.36s/it]
 39%|███▉      | 176/450 [09:10<04:41,  1.03s/it]
 39%|███▉      | 177/450 [09:27<26:27,  5.81s/it]
 40%|███▉      | 178/450 [09:28<18:47,  4.15s/it]
 40%|███▉      | 179/450 [09:28<13:26,  2.98s/it]
 40%|████      | 180/450 [09:28<09:42,  2.16s/it]
 40%|████      | 181/450 [09:28<07:06,  1.59s/it]
 40%|████      | 182/450 [09:29<05:17,  1.18s/it]
 41%|████      | 183/450 [09:29<04:01,  1.11it/s]
 41%|████      | 184/450 [09:29<03:07,  1.42it/s]
 41%|████      | 185/450 [09:46<23:50,  5.40s/it]
 41%|████▏     | 186/450 [09:46<16:57,  3.85s/it]
 42%|████▏     | 187/450 [09:46<12:08,  2.77s/it]
 42%|████▏     | 188/450 [09:46<08:47,  2.01s/it]
 42%|████▏     | 189/450 [09:47<06:27,  1.48s/it]
 42%|████▏     | 190/450 [09:47<04:49,  1.11s/it]
 42%|████▏     | 191/450 [09:47<03:40,  1.17it/s]
 43%|████▎     | 192/450 [09:47<02:53,  1.49it/s]
 43%|████▎     | 193/450 [11:11<1:48:58, 25.44s/it]
 43%|████▎     | 194/450 [11:11<1:16:18, 17.89s/it]
 43%|████▎     | 195/450 [11:11<53:31, 12.59s/it]  
 44%|████▎     | 196/450 [11:11<37:36,  8.88s/it]
 44%|████▍     | 197/450 [11:11<26:31,  6.29s/it]
 44%|████▍     | 198/450 [11:12<18:46,  4.47s/it]
 44%|████▍     | 199/450 [11:12<13:23,  3.20s/it]
 44%|████▍     | 200/450 [11:12<09:37,  2.31s/it]
 45%|████▍     | 201/450 [11:30<28:16,  6.81s/it]
 45%|████▍     | 202/450 [11:30<20:01,  4.85s/it]
 45%|████▌     | 203/450 [11:30<14:16,  3.47s/it]
 45%|████▌     | 204/450 [11:30<10:14,  2.50s/it]
 46%|████▌     | 205/450 [11:31<07:31,  1.84s/it]
 46%|████▌     | 206/450 [11:31<05:32,  1.36s/it]
 46%|████▌     | 207/450 [11:31<04:10,  1.03s/it]
 46%|████▌     | 208/450 [11:31<03:12,  1.26it/s]
 46%|████▋     | 209/450 [11:53<28:00,  6.97s/it]
 47%|████▋     | 210/450 [11:53<19:49,  4.95s/it]
 47%|████▋     | 211/450 [11:53<14:05,  3.54s/it]
 47%|████▋     | 212/450 [11:53<10:05,  2.54s/it]
 47%|████▋     | 213/450 [11:54<07:18,  1.85s/it]
 48%|████▊     | 214/450 [11:54<05:22,  1.36s/it]
 48%|████▊     | 215/450 [11:54<04:01,  1.03s/it]
 48%|████▊     | 216/450 [11:54<03:04,  1.27it/s]
 48%|████▊     | 217/450 [12:39<53:45, 13.84s/it]
 48%|████▊     | 218/450 [12:39<37:46,  9.77s/it]
 49%|████▊     | 219/450 [12:39<26:36,  6.91s/it]
 49%|████▉     | 220/450 [12:39<18:50,  4.92s/it]
 49%|████▉     | 221/450 [12:40<13:25,  3.52s/it]
 49%|████▉     | 222/450 [12:40<09:38,  2.54s/it]
 50%|████▉     | 223/450 [12:40<07:00,  1.85s/it]
 50%|████▉     | 224/450 [12:40<05:10,  1.37s/it]
 50%|█████     | 225/450 [13:22<50:17, 13.41s/it]
 50%|█████     | 226/450 [13:22<35:20,  9.46s/it]
 50%|█████     | 227/450 [13:22<24:54,  6.70s/it]
 51%|█████     | 228/450 [13:23<17:38,  4.77s/it]
 51%|█████     | 229/450 [13:23<12:34,  3.41s/it]
 51%|█████     | 230/450 [13:23<09:02,  2.47s/it]
 51%|█████▏    | 231/450 [13:23<06:34,  1.80s/it]
 52%|█████▏    | 232/450 [13:24<04:51,  1.34s/it]
 52%|█████▏    | 233/450 [13:55<37:25, 10.35s/it]
 52%|█████▏    | 234/450 [13:55<26:20,  7.32s/it]
 52%|█████▏    | 235/450 [13:56<18:35,  5.19s/it]
 52%|█████▏    | 236/450 [13:56<13:11,  3.70s/it]
 53%|█████▎    | 237/450 [13:56<09:26,  2.66s/it]
 53%|█████▎    | 238/450 [13:56<06:49,  1.93s/it]
 53%|█████▎    | 239/450 [13:56<04:59,  1.42s/it]
 53%|█████▎    | 240/450 [13:57<03:43,  1.06s/it]
 54%|█████▎    | 241/450 [14:27<34:47,  9.99s/it]
 54%|█████▍    | 242/450 [14:28<24:28,  7.06s/it]
 54%|█████▍    | 243/450 [14:28<17:17,  5.01s/it]
 54%|█████▍    | 244/450 [14:28<12:17,  3.58s/it]
 54%|█████▍    | 245/450 [14:28<08:48,  2.58s/it]
 55%|█████▍    | 246/450 [14:29<06:22,  1.88s/it]
 55%|█████▍    | 247/450 [14:29<04:40,  1.38s/it]
 55%|█████▌    | 248/450 [14:29<03:29,  1.04s/it]
 55%|█████▌    | 249/450 [15:26<59:21, 17.72s/it]
 56%|█████▌    | 250/450 [15:26<41:35, 12.48s/it]
 56%|█████▌    | 251/450 [15:26<29:12,  8.81s/it]
 56%|█████▌    | 252/450 [15:27<20:35,  6.24s/it]
 56%|█████▌    | 253/450 [15:27<14:35,  4.44s/it]
 56%|█████▋    | 254/450 [15:27<10:24,  3.18s/it]
 57%|█████▋    | 255/450 [15:27<07:29,  2.30s/it]
 57%|█████▋    | 256/450 [15:28<05:27,  1.69s/it]
 57%|█████▋    | 257/450 [16:19<53:42, 16.69s/it]
 57%|█████▋    | 258/450 [16:19<37:38, 11.76s/it]
 58%|█████▊    | 259/450 [16:20<26:27,  8.31s/it]
 58%|█████▊    | 260/450 [16:20<18:39,  5.89s/it]
 58%|█████▊    | 261/450 [16:20<13:13,  4.20s/it]
 58%|█████▊    | 262/450 [16:20<09:27,  3.02s/it]
 58%|█████▊    | 263/450 [16:21<06:48,  2.19s/it]
 59%|█████▊    | 264/450 [16:21<04:58,  1.61s/it]
 59%|█████▉    | 265/450 [16:50<29:57,  9.72s/it]
 59%|█████▉    | 266/450 [16:50<21:05,  6.88s/it]
 59%|█████▉    | 267/450 [16:50<14:55,  4.89s/it]
 60%|█████▉    | 268/450 [16:50<10:36,  3.50s/it]
 60%|█████▉    | 269/450 [16:51<07:37,  2.53s/it]
 60%|██████    | 270/450 [16:51<05:31,  1.84s/it]
 60%|██████    | 271/450 [16:51<04:04,  1.37s/it]
 60%|██████    | 272/450 [16:51<03:03,  1.03s/it]
 61%|██████    | 273/450 [17:21<28:19,  9.60s/it]
 61%|██████    | 274/450 [17:21<19:54,  6.79s/it]
 61%|██████    | 275/450 [17:21<14:03,  4.82s/it]
 61%|██████▏   | 276/450 [17:22<09:59,  3.45s/it]
 62%|██████▏   | 277/450 [17:22<07:09,  2.48s/it]
 62%|██████▏   | 278/450 [17:22<05:10,  1.81s/it]
 62%|██████▏   | 279/450 [17:22<03:48,  1.33s/it]
 62%|██████▏   | 280/450 [17:23<02:50,  1.00s/it]
 62%|██████▏   | 281/450 [18:24<54:09, 19.23s/it]
 63%|██████▎   | 282/450 [18:25<37:52, 13.53s/it]
 63%|██████▎   | 283/450 [18:25<26:32,  9.54s/it]
 63%|██████▎   | 284/450 [18:25<18:39,  6.75s/it]
 63%|██████▎   | 285/450 [18:25<13:10,  4.79s/it]
 64%|██████▎   | 286/450 [18:26<09:21,  3.42s/it]
 64%|██████▍   | 287/450 [18:26<06:42,  2.47s/it]
 64%|██████▍   | 288/450 [18:26<04:50,  1.80s/it]
 64%|██████▍   | 289/450 [18:53<25:14,  9.41s/it]
 64%|██████▍   | 290/450 [18:53<17:44,  6.65s/it]
 65%|██████▍   | 291/450 [18:54<12:31,  4.73s/it]
 65%|██████▍   | 292/450 [18:54<08:53,  3.38s/it]
 65%|██████▌   | 293/450 [18:54<06:22,  2.43s/it]
 65%|██████▌   | 294/450 [18:54<04:36,  1.77s/it]
 66%|██████▌   | 295/450 [18:55<03:23,  1.31s/it]
 66%|██████▌   | 296/450 [18:55<02:32,  1.01it/s]
 66%|██████▌   | 297/450 [19:42<38:14, 15.00s/it]
 66%|██████▌   | 298/450 [19:43<26:46, 10.57s/it]
 66%|██████▋   | 299/450 [19:43<18:48,  7.47s/it]
 67%|██████▋   | 300/450 [19:43<13:14,  5.30s/it]
 67%|██████▋   | 301/450 [19:43<09:23,  3.78s/it]
 67%|██████▋   | 302/450 [19:44<06:42,  2.72s/it]
 67%|██████▋   | 303/450 [19:44<04:50,  1.98s/it]
 68%|██████▊   | 304/450 [19:44<03:33,  1.46s/it]
 68%|██████▊   | 305/450 [20:48<48:33, 20.10s/it]
 68%|██████▊   | 306/450 [20:48<33:56, 14.14s/it]
 68%|██████▊   | 307/450 [20:48<23:46,  9.97s/it]
 68%|██████▊   | 308/450 [20:48<16:41,  7.06s/it]
 69%|██████▊   | 309/450 [20:49<11:46,  5.01s/it]
 69%|██████▉   | 310/450 [20:49<08:21,  3.58s/it]
 69%|██████▉   | 311/450 [20:49<05:58,  2.58s/it]
 69%|██████▉   | 312/450 [20:49<04:19,  1.88s/it]
 70%|██████▉   | 313/450 [21:14<19:48,  8.68s/it]
 70%|██████▉   | 314/450 [21:14<13:56,  6.15s/it]
 70%|███████   | 315/450 [21:15<09:51,  4.38s/it]
 70%|███████   | 316/450 [21:15<07:00,  3.14s/it]
 70%|███████   | 317/450 [21:15<05:02,  2.27s/it]
 71%|███████   | 318/450 [21:15<03:39,  1.67s/it]
 71%|███████   | 319/450 [21:16<02:42,  1.24s/it]
 71%|███████   | 320/450 [21:16<02:02,  1.06it/s]
 71%|███████▏  | 321/450 [22:01<30:44, 14.30s/it]
 72%|███████▏  | 322/450 [22:01<21:30, 10.08s/it]
 72%|███████▏  | 323/450 [22:02<15:05,  7.13s/it]
 72%|███████▏  | 324/450 [22:02<10:38,  5.07s/it]
 72%|███████▏  | 325/450 [22:02<07:32,  3.62s/it]
 72%|███████▏  | 326/450 [22:02<05:23,  2.61s/it]
 73%|███████▎  | 327/450 [22:03<03:53,  1.90s/it]
 73%|███████▎  | 328/450 [22:03<02:51,  1.41s/it]
 73%|███████▎  | 329/450 [22:31<18:58,  9.41s/it]
 73%|███████▎  | 330/450 [22:31<13:19,  6.66s/it]
 74%|███████▎  | 331/450 [22:32<09:23,  4.74s/it]
 74%|███████▍  | 332/450 [22:32<06:39,  3.39s/it]
 74%|███████▍  | 333/450 [22:32<04:45,  2.44s/it]
 74%|███████▍  | 334/450 [22:32<03:26,  1.78s/it]
 74%|███████▍  | 335/450 [22:32<02:31,  1.31s/it]
 75%|███████▍  | 336/450 [22:33<01:52,  1.01it/s]
 75%|███████▍  | 337/450 [23:13<24:01, 12.76s/it]
 75%|███████▌  | 338/450 [23:13<16:47,  9.00s/it]
 75%|███████▌  | 339/450 [23:13<11:46,  6.37s/it]
 76%|███████▌  | 340/450 [23:14<08:17,  4.53s/it]
 76%|███████▌  | 341/450 [23:14<05:52,  3.24s/it]
 76%|███████▌  | 342/450 [23:14<04:12,  2.34s/it]
 76%|███████▌  | 343/450 [23:14<03:02,  1.70s/it]
 76%|███████▋  | 344/450 [23:15<02:13,  1.26s/it]
 77%|███████▋  | 345/450 [24:02<26:19, 15.04s/it]
 77%|███████▋  | 346/450 [24:02<18:22, 10.60s/it]
 77%|███████▋  | 347/450 [24:02<12:51,  7.49s/it]
 77%|███████▋  | 348/450 [24:02<09:01,  5.31s/it]
 78%|███████▊  | 349/450 [24:03<06:22,  3.79s/it]
 78%|███████▊  | 350/450 [24:03<04:31,  2.72s/it]
 78%|███████▊  | 351/450 [24:03<03:15,  1.97s/it]
 78%|███████▊  | 352/450 [24:03<02:21,  1.45s/it]
 78%|███████▊  | 353/450 [24:35<16:59, 10.52s/it]
 79%|███████▊  | 354/450 [24:35<11:53,  7.43s/it]
 79%|███████▉  | 355/450 [24:35<08:20,  5.27s/it]
 79%|███████▉  | 356/450 [24:36<05:53,  3.76s/it]
 79%|███████▉  | 357/450 [24:36<04:11,  2.70s/it]
 80%|███████▉  | 358/450 [24:36<03:00,  1.96s/it]
 80%|███████▉  | 359/450 [24:36<02:11,  1.44s/it]
 80%|████████  | 360/450 [24:37<01:37,  1.08s/it]
 80%|████████  | 361/450 [25:38<28:38, 19.30s/it]
 80%|████████  | 362/450 [25:39<19:55, 13.58s/it]
 81%|████████  | 363/450 [25:39<13:53,  9.58s/it]
 81%|████████  | 364/450 [25:39<09:42,  6.77s/it]
 81%|████████  | 365/450 [25:39<06:49,  4.81s/it]
 81%|████████▏ | 366/450 [25:40<04:48,  3.44s/it]
 82%|████████▏ | 367/450 [25:40<03:25,  2.48s/it]
 82%|████████▏ | 368/450 [25:40<02:27,  1.80s/it]
 82%|████████▏ | 369/450 [26:19<17:25, 12.90s/it]
 82%|████████▏ | 370/450 [26:19<12:08,  9.10s/it]
 82%|████████▏ | 371/450 [26:19<08:28,  6.44s/it]
 83%|████████▎ | 372/450 [26:20<05:57,  4.58s/it]
 83%|████████▎ | 373/450 [26:20<04:12,  3.27s/it]
 83%|████████▎ | 374/450 [26:20<02:59,  2.37s/it]
 83%|████████▎ | 375/450 [26:20<02:09,  1.73s/it]
 84%|████████▎ | 376/450 [26:21<01:35,  1.29s/it]
 84%|████████▍ | 377/450 [27:15<20:53, 17.17s/it]
 84%|████████▍ | 378/450 [27:15<14:30, 12.09s/it]
 84%|████████▍ | 379/450 [27:15<10:06,  8.54s/it]
 84%|████████▍ | 380/450 [27:16<07:03,  6.05s/it]
 85%|████████▍ | 381/450 [27:16<04:57,  4.31s/it]
 85%|████████▍ | 382/450 [27:16<03:30,  3.09s/it]
 85%|████████▌ | 383/450 [27:16<02:29,  2.23s/it]
 85%|████████▌ | 384/450 [27:16<01:48,  1.64s/it]
 86%|████████▌ | 385/450 [28:46<30:10, 27.85s/it]
 86%|████████▌ | 386/450 [28:46<20:52, 19.57s/it]
 86%|████████▌ | 387/450 [28:46<14:27, 13.78s/it]
 86%|████████▌ | 388/450 [28:46<10:02,  9.72s/it]
 86%|████████▋ | 389/450 [28:47<06:59,  6.88s/it]
 87%|████████▋ | 390/450 [28:47<04:52,  4.88s/it]
 87%|████████▋ | 391/450 [28:47<03:25,  3.49s/it]
 87%|████████▋ | 392/450 [28:47<02:25,  2.51s/it]
 87%|████████▋ | 393/450 [29:34<14:56, 15.73s/it]
 88%|████████▊ | 394/450 [29:34<10:20, 11.08s/it]
 88%|████████▊ | 395/450 [29:34<07:10,  7.82s/it]
 88%|████████▊ | 396/450 [29:34<04:59,  5.55s/it]
 88%|████████▊ | 397/450 [29:35<03:29,  3.95s/it]
 88%|████████▊ | 398/450 [29:35<02:27,  2.84s/it]
 89%|████████▊ | 399/450 [29:35<01:44,  2.06s/it]
 89%|████████▉ | 400/450 [29:35<01:15,  1.51s/it]
 89%|████████▉ | 401/450 [30:04<07:51,  9.61s/it]
 89%|████████▉ | 402/450 [30:04<05:26,  6.80s/it]
 90%|████████▉ | 403/450 [30:04<03:46,  4.83s/it]
 90%|████████▉ | 404/450 [30:05<02:38,  3.45s/it]
 90%|█████████ | 405/450 [30:05<01:51,  2.49s/it]
 90%|█████████ | 406/450 [30:05<01:19,  1.81s/it]
 90%|█████████ | 407/450 [30:05<00:57,  1.34s/it]
 91%|█████████ | 408/450 [30:06<00:42,  1.00s/it]
 91%|█████████ | 409/450 [32:59<36:02, 52.74s/it]
 91%|█████████ | 410/450 [32:59<24:39, 36.99s/it]
 91%|█████████▏| 411/450 [32:59<16:52, 25.96s/it]
 92%|█████████▏| 412/450 [33:00<11:33, 18.24s/it]
 92%|█████████▏| 413/450 [33:00<07:55, 12.84s/it]
 92%|█████████▏| 414/450 [33:00<05:26,  9.06s/it]
 92%|█████████▏| 415/450 [33:00<03:44,  6.41s/it]
 92%|█████████▏| 416/450 [33:01<02:35,  4.56s/it]
 93%|█████████▎| 417/450 [35:01<21:32, 39.16s/it]
 93%|█████████▎| 418/450 [35:01<14:39, 27.48s/it]
 93%|█████████▎| 419/450 [35:01<09:58, 19.31s/it]
 93%|█████████▎| 420/450 [35:01<06:47, 13.59s/it]
 94%|█████████▎| 421/450 [35:02<04:38,  9.59s/it]
 94%|█████████▍| 422/450 [35:02<03:10,  6.79s/it]
 94%|█████████▍| 423/450 [35:02<02:10,  4.82s/it]
 94%|█████████▍| 424/450 [35:02<01:29,  3.45s/it]
 94%|█████████▍| 425/450 [35:42<05:57, 14.31s/it]
 95%|█████████▍| 426/450 [35:42<04:02, 10.09s/it]
 95%|█████████▍| 427/450 [35:42<02:44,  7.14s/it]
 95%|█████████▌| 428/450 [35:43<01:51,  5.07s/it]
 95%|█████████▌| 429/450 [35:43<01:16,  3.62s/it]
 96%|█████████▌| 430/450 [35:43<00:52,  2.61s/it]
 96%|█████████▌| 431/450 [35:43<00:36,  1.90s/it]
 96%|█████████▌| 432/450 [35:44<00:25,  1.41s/it]
 96%|█████████▌| 433/450 [36:16<03:04, 10.84s/it]
 96%|█████████▋| 434/450 [36:17<02:02,  7.66s/it]
 97%|█████████▋| 435/450 [36:17<01:21,  5.43s/it]
 97%|█████████▋| 436/450 [36:17<00:54,  3.87s/it]
 97%|█████████▋| 437/450 [36:17<00:36,  2.78s/it]
 97%|█████████▋| 438/450 [36:18<00:24,  2.01s/it]
 98%|█████████▊| 439/450 [36:18<00:16,  1.48s/it]
 98%|█████████▊| 440/450 [36:18<00:11,  1.10s/it]
 98%|█████████▊| 441/450 [36:51<01:36, 10.67s/it]
 98%|█████████▊| 442/450 [36:51<01:00,  7.56s/it]
 98%|█████████▊| 443/450 [36:52<00:37,  5.36s/it]
 99%|█████████▊| 444/450 [36:52<00:22,  3.82s/it]
 99%|█████████▉| 445/450 [36:52<00:13,  2.75s/it]
 99%|█████████▉| 446/450 [36:52<00:07,  2.00s/it]
 99%|█████████▉| 447/450 [36:53<00:04,  1.47s/it]
100%|█████████▉| 448/450 [36:53<00:02,  1.10s/it]
100%|█████████▉| 449/450 [37:24<00:10, 10.12s/it]
100%|█████████▉| 449/450 [37:24<00:04,  5.00s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json.
+MustardInLeftBinTask_0 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.081367517327578, 'joint_sparc_mean': -15.911401067138568, 'ee_isj': 2262.0339016304883, 'joint_isj': 141999.43982790975, 'ee_path_length': 3.231006018425807, 'joint_rmse_mean': 0.963889635980059, 'ee_speed_max': 0.7322898507118225, 'ee_speed_mean': 0.10402984917163849}, events: {'TARGET_OBJECT_DROPPED': 14, 'GRIPPER_FULLY_CLOSED': 10, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 2148.553, 'policy_inference_avg_ms': 4774.6, 'env_step_s': 92.667, 'env_step_avg_ms': 205.9, 'video_write_s': 3.34, 'video_write_avg_ms': 7.4, 'wall_total_s': 2244.561, 'it_per_sec': 0.2}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: bf5e70143e804f8ba80dcfe35aed8bae-0
+[RoboLab] Running MustardInLeftBinTask_1: 'Put the mustard in the left bin' (run 1, 1 envs)
+
  0%|          | 0/450 [00:00<?, ?it/s]
  0%|          | 1/450 [00:39<4:58:12, 39.85s/it]
  0%|          | 2/450 [00:40<2:03:34, 16.55s/it]
  1%|          | 3/450 [00:40<1:07:47,  9.10s/it]
  1%|          | 4/450 [00:40<41:38,  5.60s/it]  
  1%|          | 5/450 [00:40<27:12,  3.67s/it]
  1%|▏         | 6/450 [00:41<18:31,  2.50s/it]
  2%|▏         | 7/450 [00:41<13:00,  1.76s/it]
  2%|▏         | 8/450 [00:41<09:22,  1.27s/it]
  2%|▏         | 9/450 [00:56<40:49,  5.56s/it]
  2%|▏         | 10/450 [00:56<28:41,  3.91s/it]
  2%|▏         | 11/450 [00:56<20:23,  2.79s/it]
  3%|▎         | 12/450 [00:57<14:40,  2.01s/it]
  3%|▎         | 13/450 [00:57<10:42,  1.47s/it]
  3%|▎         | 14/450 [00:57<07:58,  1.10s/it]
  3%|▎         | 15/450 [00:57<06:03,  1.20it/s]
  4%|▎         | 16/450 [00:58<04:43,  1.53it/s]
  4%|▍         | 17/450 [01:12<34:20,  4.76s/it]
  4%|▍         | 18/450 [01:12<24:27,  3.40s/it]
  4%|▍         | 19/450 [01:12<17:34,  2.45s/it]
  4%|▍         | 20/450 [01:13<12:46,  1.78s/it]
  5%|▍         | 21/450 [01:13<09:24,  1.32s/it]
  5%|▍         | 22/450 [01:13<07:03,  1.01it/s]
  5%|▌         | 23/450 [01:13<05:25,  1.31it/s]
  5%|▌         | 24/450 [01:14<04:17,  1.66it/s]
  6%|▌         | 25/450 [01:27<30:49,  4.35s/it]
  6%|▌         | 26/450 [01:27<22:01,  3.12s/it]
  6%|▌         | 27/450 [01:27<15:53,  2.25s/it]
  6%|▌         | 28/450 [01:27<11:36,  1.65s/it]
  6%|▋         | 29/450 [01:28<08:37,  1.23s/it]
  7%|▋         | 30/450 [01:28<06:31,  1.07it/s]
  7%|▋         | 31/450 [01:28<05:03,  1.38it/s]
  7%|▋         | 32/450 [01:28<04:01,  1.73it/s]
  7%|▋         | 33/450 [01:53<54:18,  7.81s/it]
  8%|▊         | 34/450 [01:53<38:26,  5.55s/it]
  8%|▊         | 35/450 [01:54<27:21,  3.96s/it]
  8%|▊         | 36/450 [01:54<19:37,  2.84s/it]
  8%|▊         | 37/450 [01:54<14:13,  2.07s/it]
  8%|▊         | 38/450 [01:54<10:27,  1.52s/it]
  9%|▊         | 39/450 [01:55<07:49,  1.14s/it]
  9%|▉         | 40/450 [01:55<05:59,  1.14it/s]
  9%|▉         | 41/450 [02:11<37:06,  5.44s/it]
  9%|▉         | 42/450 [02:11<26:26,  3.89s/it]
 10%|▉         | 43/450 [02:11<18:59,  2.80s/it]
 10%|▉         | 44/450 [02:12<13:46,  2.04s/it]
 10%|█         | 45/450 [02:12<10:07,  1.50s/it]
 10%|█         | 46/450 [02:12<07:34,  1.12s/it]
 10%|█         | 47/450 [02:12<05:44,  1.17it/s]
 11%|█         | 48/450 [02:13<04:28,  1.50it/s]
 11%|█         | 49/450 [02:42<1:02:20,  9.33s/it]
 11%|█         | 50/450 [02:42<44:00,  6.60s/it]  
 11%|█▏        | 51/450 [02:43<31:10,  4.69s/it]
 12%|█▏        | 52/450 [02:43<22:14,  3.35s/it]
 12%|█▏        | 53/450 [02:43<15:58,  2.41s/it]
 12%|█▏        | 54/450 [02:43<11:36,  1.76s/it]
 12%|█▏        | 55/450 [02:44<08:33,  1.30s/it]
 12%|█▏        | 56/450 [02:44<06:26,  1.02it/s]
 13%|█▎        | 57/450 [03:04<45:08,  6.89s/it]
 13%|█▎        | 58/450 [03:05<31:58,  4.89s/it]
 13%|█▎        | 59/450 [03:05<22:46,  3.49s/it]
 13%|█▎        | 60/450 [03:05<16:21,  2.52s/it]
 14%|█▎        | 61/450 [03:05<11:52,  1.83s/it]
 14%|█▍        | 62/450 [03:06<08:44,  1.35s/it]
 14%|█▍        | 63/450 [03:06<06:32,  1.02s/it]
 14%|█▍        | 64/450 [03:06<05:01,  1.28it/s]
 14%|█▍        | 65/450 [03:40<1:09:40, 10.86s/it]
 15%|█▍        | 66/450 [03:41<49:07,  7.68s/it]  
 15%|█▍        | 67/450 [03:41<34:47,  5.45s/it]
 15%|█▌        | 68/450 [03:41<24:45,  3.89s/it]
 15%|█▌        | 69/450 [03:41<17:45,  2.80s/it]
 16%|█▌        | 70/450 [03:42<12:52,  2.03s/it]
 16%|█▌        | 71/450 [03:42<09:27,  1.50s/it]
 16%|█▌        | 72/450 [03:42<07:05,  1.12s/it]
 16%|█▌        | 73/450 [04:05<48:10,  7.67s/it]
 16%|█▋        | 74/450 [04:05<34:05,  5.44s/it]
 17%|█▋        | 75/450 [04:06<24:15,  3.88s/it]
 17%|█▋        | 76/450 [04:06<17:21,  2.78s/it]
 17%|█▋        | 77/450 [04:06<12:32,  2.02s/it]
 17%|█▋        | 78/450 [04:06<09:11,  1.48s/it]
 18%|█▊        | 79/450 [04:07<06:50,  1.11s/it]
 18%|█▊        | 80/450 [04:07<05:12,  1.18it/s]
 18%|█▊        | 81/450 [04:26<39:15,  6.38s/it]
 18%|█▊        | 82/450 [04:26<27:50,  4.54s/it]
 18%|█▊        | 83/450 [04:27<19:51,  3.25s/it]
 19%|█▊        | 84/450 [04:27<14:17,  2.34s/it]
 19%|█▉        | 85/450 [04:27<10:24,  1.71s/it]
 19%|█▉        | 86/450 [04:27<07:41,  1.27s/it]
 19%|█▉        | 87/450 [04:27<05:47,  1.04it/s]
 20%|█▉        | 88/450 [04:28<04:27,  1.35it/s]
 20%|█▉        | 89/450 [04:44<32:48,  5.45s/it]
 20%|██        | 90/450 [04:44<23:22,  3.90s/it]
 20%|██        | 91/450 [04:45<16:47,  2.81s/it]
 20%|██        | 92/450 [04:45<12:11,  2.04s/it]
 21%|██        | 93/450 [04:45<08:58,  1.51s/it]
 21%|██        | 94/450 [04:45<06:42,  1.13s/it]
 21%|██        | 95/450 [04:46<05:08,  1.15it/s]
 21%|██▏       | 96/450 [04:46<04:02,  1.46it/s]
 22%|██▏       | 97/450 [04:57<22:05,  3.75s/it]
 22%|██▏       | 98/450 [04:57<15:53,  2.71s/it]
 22%|██▏       | 99/450 [04:57<11:33,  1.97s/it]
 22%|██▏       | 100/450 [04:58<08:31,  1.46s/it]
 22%|██▏       | 101/450 [04:58<06:24,  1.10s/it]
 23%|██▎       | 102/450 [04:58<04:56,  1.18it/s]
 23%|██▎       | 103/450 [04:58<03:53,  1.48it/s]
 23%|██▎       | 104/450 [04:59<03:10,  1.81it/s]
 23%|██▎       | 105/450 [05:30<56:58,  9.91s/it]
 24%|██▎       | 106/450 [05:31<40:13,  7.02s/it]
 24%|██▍       | 107/450 [05:31<28:31,  4.99s/it]
 24%|██▍       | 108/450 [05:31<20:21,  3.57s/it]
 24%|██▍       | 109/450 [05:32<14:39,  2.58s/it]
 24%|██▍       | 110/450 [05:32<10:40,  1.88s/it]
 25%|██▍       | 111/450 [05:32<07:53,  1.40s/it]
 25%|██▍       | 112/450 [05:32<05:56,  1.06s/it]
 25%|██▌       | 113/450 [05:46<27:06,  4.83s/it]
 25%|██▌       | 114/450 [05:46<19:21,  3.46s/it]
 26%|██▌       | 115/450 [05:46<13:56,  2.50s/it]
 26%|██▌       | 116/450 [05:47<10:09,  1.82s/it]
 26%|██▌       | 117/450 [05:47<07:31,  1.36s/it]
 26%|██▌       | 118/450 [05:47<05:40,  1.03s/it]
 26%|██▋       | 119/450 [05:47<04:24,  1.25it/s]
 27%|██▋       | 120/450 [05:48<03:30,  1.57it/s]
 27%|██▋       | 121/450 [06:16<48:11,  8.79s/it]
 27%|██▋       | 122/450 [06:16<34:04,  6.23s/it]
 27%|██▋       | 123/450 [06:16<24:12,  4.44s/it]
 28%|██▊       | 124/450 [06:16<17:18,  3.19s/it]
 28%|██▊       | 125/450 [06:17<12:29,  2.31s/it]
 28%|██▊       | 126/450 [06:17<09:07,  1.69s/it]
 28%|██▊       | 127/450 [06:17<06:46,  1.26s/it]
 28%|██▊       | 128/450 [06:17<05:08,  1.04it/s]
 29%|██▊       | 129/450 [06:30<24:34,  4.59s/it]
 29%|██▉       | 130/450 [06:31<17:34,  3.29s/it]
 29%|██▉       | 131/450 [06:31<12:39,  2.38s/it]
 29%|██▉       | 132/450 [06:31<09:14,  1.74s/it]
 30%|██▉       | 133/450 [06:31<06:50,  1.30s/it]
 30%|██▉       | 134/450 [06:32<05:10,  1.02it/s]
 30%|███       | 135/450 [06:32<04:00,  1.31it/s]
 30%|███       | 136/450 [06:32<03:11,  1.64it/s]
 30%|███       | 137/450 [06:51<32:07,  6.16s/it]
 31%|███       | 138/450 [06:52<22:49,  4.39s/it]
 31%|███       | 139/450 [06:52<16:19,  3.15s/it]
 31%|███       | 140/450 [06:52<11:47,  2.28s/it]
 31%|███▏      | 141/450 [06:52<08:36,  1.67s/it]
 32%|███▏      | 142/450 [06:53<06:23,  1.25s/it]
 32%|███▏      | 142/450 [06:53<14:56,  2.91s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json.
+MustardInLeftBinTask_1 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: True, episode_step: 143, duration: 9.533333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.30858446013087, 'joint_sparc_mean': -4.318095778475253, 'ee_isj': 1400.189892129632, 'joint_isj': 15080.91475747815, 'ee_path_length': 1.7638987014786278, 'joint_rmse_mean': 0.8385584569877843, 'ee_speed_max': 0.9629465937614441, 'ee_speed_mean': 0.17777690291404724}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 5}, instruction_type: default, timing: {'policy_inference_s': 381.319, 'policy_inference_avg_ms': 2666.6, 'env_step_s': 30.369, 'env_step_avg_ms': 212.4, 'video_write_s': 1.661, 'video_write_avg_ms': 11.6, 'wall_total_s': 413.348, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 6561e9ba4ce74cffae4ed8563c5f3172-1
+[RoboLab] Running MustardInLeftBinTask_2: 'Put the mustard in the left bin' (run 2, 1 envs)
+
  0%|          | 0/450 [00:00<?, ?it/s]
  0%|          | 1/450 [00:56<7:02:58, 56.52s/it]
  0%|          | 2/450 [00:56<2:54:48, 23.41s/it]
  1%|          | 3/450 [00:56<1:35:34, 12.83s/it]
  1%|          | 4/450 [00:57<58:23,  7.86s/it]  
  1%|          | 5/450 [00:57<37:52,  5.11s/it]
  1%|▏         | 6/450 [00:57<25:30,  3.45s/it]
  2%|▏         | 7/450 [00:57<17:41,  2.40s/it]
  2%|▏         | 8/450 [00:58<12:34,  1.71s/it]
  2%|▏         | 9/450 [01:09<35:17,  4.80s/it]
  2%|▏         | 10/450 [01:09<24:51,  3.39s/it]
  2%|▏         | 11/450 [01:10<17:43,  2.42s/it]
  3%|▎         | 12/450 [01:10<12:48,  1.75s/it]
  3%|▎         | 13/450 [01:10<09:24,  1.29s/it]
  3%|▎         | 14/450 [01:10<07:03,  1.03it/s]
  3%|▎         | 15/450 [01:11<05:24,  1.34it/s]
  4%|▎         | 16/450 [01:11<04:16,  1.69it/s]
  4%|▍         | 17/450 [01:27<37:57,  5.26s/it]
  4%|▍         | 18/450 [01:27<26:59,  3.75s/it]
  4%|▍         | 19/450 [01:27<19:20,  2.69s/it]
  4%|▍         | 20/450 [01:28<13:59,  1.95s/it]
  5%|▍         | 21/450 [01:28<10:15,  1.43s/it]
  5%|▍         | 22/450 [01:28<07:39,  1.07s/it]
  5%|▌         | 23/450 [01:28<05:50,  1.22it/s]
  5%|▌         | 24/450 [01:29<04:34,  1.55it/s]
  6%|▌         | 25/450 [02:00<1:10:08,  9.90s/it]
  6%|▌         | 26/450 [02:00<49:28,  7.00s/it]  
  6%|▌         | 27/450 [02:01<35:02,  4.97s/it]
  6%|▌         | 28/450 [02:01<24:57,  3.55s/it]
  6%|▋         | 29/450 [02:01<17:54,  2.55s/it]
  7%|▋         | 30/450 [02:01<13:01,  1.86s/it]
  7%|▋         | 31/450 [02:01<09:36,  1.38s/it]
  7%|▋         | 32/450 [02:02<07:12,  1.03s/it]
  7%|▋         | 33/450 [02:13<28:23,  4.08s/it]
  8%|▊         | 34/450 [02:13<20:20,  2.93s/it]
  8%|▊         | 35/450 [02:13<14:44,  2.13s/it]
  8%|▊         | 36/450 [02:14<10:48,  1.57s/it]
  8%|▊         | 37/450 [02:14<08:03,  1.17s/it]
  8%|▊         | 38/450 [02:14<06:08,  1.12it/s]
  9%|▊         | 39/450 [02:14<04:47,  1.43it/s]
  9%|▉         | 40/450 [02:15<03:52,  1.77it/s]
  9%|▉         | 41/450 [02:23<18:58,  2.78s/it]
  9%|▉         | 42/450 [02:23<13:46,  2.03s/it]
 10%|▉         | 43/450 [02:23<10:08,  1.49s/it]
 10%|▉         | 44/450 [02:23<07:35,  1.12s/it]
 10%|█         | 45/450 [02:24<05:49,  1.16it/s]
 10%|█         | 46/450 [02:24<04:34,  1.47it/s]
 10%|█         | 47/450 [02:24<03:42,  1.81it/s]
 11%|█         | 48/450 [02:24<03:05,  2.17it/s]
 11%|█         | 49/450 [02:56<1:06:18,  9.92s/it]
 11%|█         | 50/450 [02:57<46:45,  7.01s/it]  
 11%|█▏        | 51/450 [02:57<33:06,  4.98s/it]
 12%|█▏        | 52/450 [02:57<23:34,  3.56s/it]
 12%|█▏        | 53/450 [02:57<16:55,  2.56s/it]
 12%|█▏        | 54/450 [02:58<12:17,  1.86s/it]
 12%|█▏        | 55/450 [02:58<09:01,  1.37s/it]
 12%|█▏        | 56/450 [02:58<06:45,  1.03s/it]
 13%|█▎        | 57/450 [03:37<1:21:19, 12.41s/it]
 13%|█▎        | 58/450 [03:37<57:13,  8.76s/it]  
 13%|█▎        | 59/450 [03:37<40:25,  6.20s/it]
 13%|█▎        | 60/450 [03:38<28:40,  4.41s/it]
 14%|█▎        | 61/450 [03:38<20:28,  3.16s/it]
 14%|█▍        | 62/450 [03:38<14:44,  2.28s/it]
 14%|█▍        | 63/450 [03:38<10:44,  1.66s/it]
 14%|█▍        | 64/450 [03:39<07:56,  1.24s/it]
 14%|█▍        | 65/450 [03:50<27:27,  4.28s/it]
 15%|█▍        | 66/450 [03:50<19:36,  3.06s/it]
 15%|█▍        | 67/450 [03:50<14:08,  2.22s/it]
 15%|█▌        | 68/450 [03:51<10:19,  1.62s/it]
 15%|█▌        | 69/450 [03:51<07:38,  1.20s/it]
 16%|█▌        | 70/450 [03:51<05:46,  1.10it/s]
 16%|█▌        | 71/450 [03:51<04:28,  1.41it/s]
 16%|█▌        | 72/450 [03:52<03:33,  1.77it/s]
 16%|█▌        | 73/450 [04:24<1:03:31, 10.11s/it]
 16%|█▋        | 74/450 [04:24<44:46,  7.14s/it]  
 17%|█▋        | 75/450 [04:24<31:41,  5.07s/it]
 17%|█▋        | 76/450 [04:25<22:32,  3.62s/it]
 17%|█▋        | 77/450 [04:25<16:10,  2.60s/it]
 17%|█▋        | 78/450 [04:25<11:43,  1.89s/it]
 18%|█▊        | 79/450 [04:25<08:36,  1.39s/it]
 18%|█▊        | 80/450 [04:26<06:28,  1.05s/it]
 18%|█▊        | 81/450 [04:42<34:43,  5.65s/it]
 18%|█▊        | 82/450 [04:42<24:43,  4.03s/it]
 18%|█▊        | 83/450 [04:43<17:43,  2.90s/it]
 19%|█▊        | 84/450 [04:43<12:49,  2.10s/it]
 19%|█▉        | 85/450 [04:43<09:25,  1.55s/it]
 19%|█▉        | 86/450 [04:43<07:02,  1.16s/it]
 19%|█▉        | 87/450 [04:44<05:22,  1.13it/s]
 20%|█▉        | 88/450 [04:44<04:12,  1.44it/s]
 20%|█▉        | 89/450 [05:09<48:19,  8.03s/it]
 20%|██        | 90/450 [05:09<34:11,  5.70s/it]
 20%|██        | 91/450 [05:09<24:18,  4.06s/it]
 20%|██        | 92/450 [05:10<17:24,  2.92s/it]
 21%|██        | 93/450 [05:10<12:36,  2.12s/it]
 21%|██        | 94/450 [05:10<09:14,  1.56s/it]
 21%|██        | 95/450 [05:10<06:53,  1.17s/it]
 21%|██▏       | 96/450 [05:11<05:15,  1.12it/s]
 22%|██▏       | 97/450 [05:34<43:57,  7.47s/it]
 22%|██▏       | 98/450 [05:34<31:08,  5.31s/it]
 22%|██▏       | 99/450 [05:34<22:10,  3.79s/it]
 22%|██▏       | 100/450 [05:34<15:55,  2.73s/it]
 22%|██▏       | 101/450 [05:35<11:33,  1.99s/it]
 23%|██▎       | 102/450 [05:35<08:30,  1.47s/it]
 23%|██▎       | 103/450 [05:35<06:22,  1.10s/it]
 23%|██▎       | 104/450 [05:35<04:52,  1.18it/s]
 23%|██▎       | 105/450 [06:25<1:29:46, 15.61s/it]
 24%|██▎       | 106/450 [06:26<1:03:03, 11.00s/it]
 24%|██▍       | 107/450 [06:26<44:24,  7.77s/it]  
 24%|██▍       | 108/450 [06:26<31:23,  5.51s/it]
 24%|██▍       | 109/450 [06:26<22:18,  3.93s/it]
 24%|██▍       | 110/450 [06:27<15:58,  2.82s/it]
 25%|██▍       | 111/450 [06:27<11:32,  2.04s/it]
 25%|██▍       | 112/450 [06:27<08:27,  1.50s/it]
 25%|██▌       | 113/450 [07:01<1:02:52, 11.20s/it]
 25%|██▌       | 114/450 [07:01<44:18,  7.91s/it]  
 26%|██▌       | 115/450 [07:01<31:20,  5.61s/it]
 26%|██▌       | 116/450 [07:02<22:17,  4.00s/it]
 26%|██▌       | 117/450 [07:02<15:58,  2.88s/it]
 26%|██▌       | 118/450 [07:02<11:34,  2.09s/it]
 26%|██▋       | 119/450 [07:02<08:30,  1.54s/it]
 27%|██▋       | 120/450 [07:03<06:21,  1.16s/it]
 27%|██▋       | 121/450 [07:17<28:17,  5.16s/it]
 27%|██▋       | 122/450 [07:17<20:09,  3.69s/it]
 27%|██▋       | 123/450 [07:18<14:29,  2.66s/it]
 28%|██▊       | 124/450 [07:18<10:31,  1.94s/it]
 28%|██▊       | 125/450 [07:18<07:44,  1.43s/it]
 28%|██▊       | 126/450 [07:18<05:48,  1.08s/it]
 28%|██▊       | 127/450 [07:19<04:25,  1.22it/s]
 28%|██▊       | 128/450 [07:19<03:27,  1.55it/s]
 29%|██▊       | 129/450 [07:36<30:14,  5.65s/it]
 29%|██▉       | 130/450 [07:36<21:28,  4.03s/it]
 29%|██▉       | 131/450 [07:37<15:21,  2.89s/it]
 29%|██▉       | 132/450 [07:37<11:06,  2.09s/it]
 30%|██▉       | 133/450 [07:37<08:07,  1.54s/it]
 30%|██▉       | 134/450 [07:37<06:04,  1.15s/it]
 30%|███       | 135/450 [07:38<04:38,  1.13it/s]
 30%|███       | 136/450 [07:38<03:37,  1.44it/s]
 30%|███       | 137/450 [07:55<29:20,  5.62s/it]
 31%|███       | 138/450 [07:55<20:52,  4.01s/it]
 31%|███       | 139/450 [07:56<14:57,  2.89s/it]
 31%|███       | 140/450 [07:56<10:49,  2.09s/it]
 31%|███▏      | 141/450 [07:56<07:56,  1.54s/it]
 32%|███▏      | 142/450 [07:56<05:55,  1.15s/it]
 32%|███▏      | 143/450 [07:56<04:31,  1.13it/s]
 32%|███▏      | 144/450 [07:57<03:31,  1.44it/s]
 32%|███▏      | 145/450 [08:12<25:47,  5.07s/it]
 32%|███▏      | 146/450 [08:12<18:23,  3.63s/it]
 33%|███▎      | 147/450 [08:13<13:12,  2.62s/it]
 33%|███▎      | 148/450 [08:13<09:35,  1.91s/it]
 33%|███▎      | 149/450 [08:13<07:04,  1.41s/it]
 33%|███▎      | 150/450 [08:13<05:18,  1.06s/it]
 34%|███▎      | 151/450 [08:14<04:04,  1.22it/s]
 34%|███▍      | 152/450 [08:14<03:13,  1.54it/s]
 34%|███▍      | 153/450 [08:31<27:35,  5.57s/it]
 34%|███▍      | 154/450 [08:31<19:37,  3.98s/it]
 34%|███▍      | 155/450 [08:31<14:03,  2.86s/it]
 35%|███▍      | 156/450 [08:32<10:10,  2.08s/it]
 35%|███▍      | 157/450 [08:32<07:28,  1.53s/it]
 35%|███▌      | 158/450 [08:32<05:35,  1.15s/it]
 35%|███▌      | 159/450 [08:32<04:15,  1.14it/s]
 36%|███▌      | 160/450 [08:33<03:20,  1.45it/s]
 36%|███▌      | 161/450 [08:51<28:15,  5.87s/it]
 36%|███▌      | 162/450 [08:51<20:05,  4.18s/it]
 36%|███▌      | 163/450 [08:51<14:22,  3.01s/it]
 36%|███▋      | 164/450 [08:51<10:23,  2.18s/it]
 37%|███▋      | 165/450 [08:52<07:36,  1.60s/it]
 37%|███▋      | 166/450 [08:52<05:39,  1.20s/it]
 37%|███▋      | 167/450 [08:52<04:18,  1.09it/s]
 37%|███▋      | 168/450 [08:52<03:22,  1.40it/s]
 38%|███▊      | 169/450 [09:10<27:27,  5.86s/it]
 38%|███▊      | 170/450 [09:10<19:30,  4.18s/it]
 38%|███▊      | 171/450 [09:11<13:56,  3.00s/it]
 38%|███▊      | 172/450 [09:11<10:04,  2.18s/it]
 38%|███▊      | 173/450 [09:11<07:22,  1.60s/it]
 39%|███▊      | 174/450 [09:11<05:28,  1.19s/it]
 39%|███▉      | 175/450 [09:12<04:07,  1.11it/s]
 39%|███▉      | 176/450 [09:12<03:11,  1.43it/s]
 39%|███▉      | 177/450 [10:07<1:17:51, 17.11s/it]
 40%|███▉      | 178/450 [10:08<54:37, 12.05s/it]  
 40%|███▉      | 179/450 [10:08<38:24,  8.50s/it]
 40%|████      | 180/450 [10:08<27:05,  6.02s/it]
 40%|████      | 181/450 [10:08<19:12,  4.29s/it]
 40%|████      | 182/450 [10:09<13:42,  3.07s/it]
 41%|████      | 183/450 [10:09<09:52,  2.22s/it]
 41%|████      | 184/450 [10:09<07:11,  1.62s/it]
 41%|████      | 185/450 [10:41<46:51, 10.61s/it]
 41%|████▏     | 186/450 [10:41<32:59,  7.50s/it]
 42%|████▏     | 187/450 [10:41<23:18,  5.32s/it]
 42%|████▏     | 188/450 [10:41<16:33,  3.79s/it]
 42%|████▏     | 189/450 [10:41<11:51,  2.72s/it]
 42%|████▏     | 190/450 [10:42<08:33,  1.98s/it]
 42%|████▏     | 191/450 [10:42<06:16,  1.45s/it]
 43%|████▎     | 192/450 [10:42<04:40,  1.09s/it]
 43%|████▎     | 193/450 [12:35<2:28:15, 34.61s/it]
 43%|████▎     | 194/450 [12:35<1:43:40, 24.30s/it]
 43%|████▎     | 195/450 [12:35<1:12:34, 17.08s/it]
 44%|████▎     | 196/450 [12:36<50:53, 12.02s/it]  
 44%|████▍     | 197/450 [12:36<35:46,  8.48s/it]
 44%|████▍     | 198/450 [12:36<25:14,  6.01s/it]
 44%|████▍     | 199/450 [12:36<17:52,  4.27s/it]
 44%|████▍     | 200/450 [12:37<12:46,  3.06s/it]
 45%|████▍     | 201/450 [13:05<44:38, 10.76s/it]
 45%|████▍     | 202/450 [13:06<31:24,  7.60s/it]
 45%|████▌     | 203/450 [13:06<22:11,  5.39s/it]
 45%|████▌     | 204/450 [13:06<15:45,  3.84s/it]
 46%|████▌     | 205/450 [13:06<11:16,  2.76s/it]
 46%|████▌     | 206/450 [13:07<08:09,  2.01s/it]
 46%|████▌     | 207/450 [13:07<05:59,  1.48s/it]
 46%|████▌     | 208/450 [13:07<04:27,  1.11s/it]
 46%|████▋     | 209/450 [13:28<28:16,  7.04s/it]
 47%|████▋     | 210/450 [13:28<19:59,  5.00s/it]
 47%|████▋     | 211/450 [13:28<14:13,  3.57s/it]
 47%|████▋     | 212/450 [13:29<10:12,  2.57s/it]
 47%|████▋     | 213/450 [13:29<07:24,  1.87s/it]
 48%|████▊     | 214/450 [13:29<05:26,  1.38s/it]
 48%|████▊     | 215/450 [13:29<04:05,  1.04s/it]
 48%|████▊     | 216/450 [13:30<03:08,  1.24it/s]
 48%|████▊     | 217/450 [13:49<25:11,  6.49s/it]
 48%|████▊     | 218/450 [13:50<17:50,  4.62s/it]
 49%|████▊     | 219/450 [13:50<12:43,  3.30s/it]
 49%|████▉     | 220/450 [13:50<09:08,  2.38s/it]
 49%|████▉     | 221/450 [13:50<06:38,  1.74s/it]
 49%|████▉     | 222/450 [13:51<04:54,  1.29s/it]
 50%|████▉     | 223/450 [13:51<03:41,  1.02it/s]
 50%|████▉     | 224/450 [13:51<02:50,  1.32it/s]
 50%|█████     | 225/450 [14:30<46:16, 12.34s/it]
 50%|█████     | 226/450 [14:31<32:30,  8.71s/it]
 50%|█████     | 227/450 [14:31<22:54,  6.16s/it]
 51%|█████     | 228/450 [14:31<16:13,  4.39s/it]
 51%|█████     | 229/450 [14:31<11:34,  3.14s/it]
 51%|█████     | 230/450 [14:32<08:20,  2.27s/it]
 51%|█████▏    | 231/450 [14:32<06:04,  1.67s/it]
 52%|█████▏    | 232/450 [14:32<04:30,  1.24s/it]
 52%|█████▏    | 233/450 [14:54<27:19,  7.55s/it]
 52%|█████▏    | 234/450 [14:55<19:17,  5.36s/it]
 52%|█████▏    | 235/450 [14:55<13:41,  3.82s/it]
 52%|█████▏    | 236/450 [14:55<09:47,  2.74s/it]
 53%|█████▎    | 237/450 [14:55<07:03,  1.99s/it]
 53%|█████▎    | 238/450 [14:56<05:09,  1.46s/it]
 53%|█████▎    | 239/450 [14:56<03:50,  1.09s/it]
 53%|█████▎    | 240/450 [14:56<02:54,  1.20it/s]
 54%|█████▎    | 241/450 [15:39<47:22, 13.60s/it]
 54%|█████▍    | 242/450 [15:40<33:14,  9.59s/it]
 54%|█████▍    | 243/450 [15:40<23:23,  6.78s/it]
 54%|█████▍    | 244/450 [15:40<16:32,  4.82s/it]
 54%|█████▍    | 245/450 [15:40<11:45,  3.44s/it]
 55%|█████▍    | 246/450 [15:41<08:25,  2.48s/it]
 55%|█████▍    | 247/450 [15:41<06:05,  1.80s/it]
 55%|█████▌    | 248/450 [15:41<04:28,  1.33s/it]
 55%|█████▌    | 249/450 [17:01<1:23:45, 25.00s/it]
 56%|█████▌    | 250/450 [17:01<58:33, 17.57s/it]  
 56%|█████▌    | 251/450 [17:02<41:01, 12.37s/it]
 56%|█████▌    | 252/450 [17:02<28:47,  8.73s/it]
 56%|█████▌    | 253/450 [17:02<20:17,  6.18s/it]
 56%|█████▋    | 254/450 [17:02<14:21,  4.40s/it]
 57%|█████▋    | 255/450 [17:03<10:13,  3.15s/it]
 57%|█████▋    | 256/450 [17:03<07:21,  2.28s/it]
 57%|█████▋    | 257/450 [17:26<27:38,  8.59s/it]
 57%|█████▋    | 258/450 [17:26<19:30,  6.10s/it]
 58%|█████▊    | 259/450 [17:27<13:49,  4.34s/it]
 58%|█████▊    | 260/450 [17:27<09:52,  3.12s/it]
 58%|█████▊    | 261/450 [17:27<07:06,  2.26s/it]
 58%|█████▊    | 262/450 [17:27<05:11,  1.66s/it]
 58%|█████▊    | 263/450 [17:28<03:50,  1.23s/it]
 59%|█████▊    | 264/450 [17:28<02:54,  1.07it/s]
 59%|█████▉    | 265/450 [17:55<26:48,  8.70s/it]
 59%|█████▉    | 266/450 [17:55<18:53,  6.16s/it]
 59%|█████▉    | 267/450 [17:55<13:22,  4.39s/it]
 60%|█████▉    | 268/450 [17:56<09:32,  3.15s/it]
 60%|█████▉    | 269/450 [17:56<06:52,  2.28s/it]
 60%|██████    | 270/450 [17:56<05:00,  1.67s/it]
 60%|██████    | 271/450 [17:56<03:42,  1.24s/it]
 60%|██████    | 272/450 [17:57<02:48,  1.06it/s]
 61%|██████    | 273/450 [18:22<24:40,  8.36s/it]
 61%|██████    | 274/450 [18:22<17:22,  5.92s/it]
 61%|██████    | 275/450 [18:23<12:18,  4.22s/it]
 61%|██████▏   | 276/450 [18:23<08:46,  3.03s/it]
 62%|██████▏   | 277/450 [18:23<06:19,  2.20s/it]
 62%|██████▏   | 278/450 [18:23<04:37,  1.61s/it]
 62%|██████▏   | 279/450 [18:24<03:25,  1.20s/it]
 62%|██████▏   | 280/450 [18:24<02:35,  1.09it/s]
 62%|██████▏   | 281/450 [19:14<44:19, 15.74s/it]
 63%|██████▎   | 282/450 [19:14<31:03, 11.09s/it]
 63%|██████▎   | 283/450 [19:15<21:49,  7.84s/it]
 63%|██████▎   | 284/450 [19:15<15:23,  5.56s/it]
 63%|██████▎   | 285/450 [19:15<10:53,  3.96s/it]
 64%|██████▎   | 286/450 [19:15<07:46,  2.84s/it]
 64%|██████▍   | 287/450 [19:16<05:35,  2.06s/it]
 64%|██████▍   | 288/450 [19:16<04:04,  1.51s/it]
 64%|██████▍   | 289/450 [20:11<47:19, 17.64s/it]
 64%|██████▍   | 290/450 [20:11<33:06, 12.42s/it]
 65%|██████▍   | 291/450 [20:12<23:13,  8.76s/it]
 65%|██████▍   | 292/450 [20:12<16:20,  6.20s/it]
 65%|██████▌   | 293/450 [20:12<11:32,  4.41s/it]
 65%|██████▌   | 294/450 [20:12<08:12,  3.16s/it]
 66%|██████▌   | 295/450 [20:13<05:53,  2.28s/it]
 66%|██████▌   | 296/450 [20:13<04:16,  1.67s/it]
 66%|██████▌   | 297/450 [20:40<23:36,  9.26s/it]
 66%|██████▌   | 298/450 [20:40<16:36,  6.56s/it]
 66%|██████▋   | 299/450 [20:40<11:44,  4.66s/it]
 67%|██████▋   | 300/450 [20:41<08:21,  3.34s/it]
 67%|██████▋   | 301/450 [20:41<05:59,  2.41s/it]
 67%|██████▋   | 302/450 [20:41<04:21,  1.76s/it]
 67%|██████▋   | 303/450 [20:41<03:12,  1.31s/it]
 68%|██████▊   | 304/450 [20:42<02:25,  1.00it/s]
 68%|██████▊   | 305/450 [21:06<19:25,  8.04s/it]
 68%|██████▊   | 306/450 [21:06<13:41,  5.71s/it]
 68%|██████▊   | 307/450 [21:07<09:41,  4.07s/it]
 68%|██████▊   | 308/450 [21:07<06:55,  2.93s/it]
 69%|██████▊   | 309/450 [21:07<04:59,  2.12s/it]
 69%|██████▉   | 310/450 [21:07<03:38,  1.56s/it]
 69%|██████▉   | 311/450 [21:08<02:42,  1.17s/it]
 69%|██████▉   | 312/450 [21:08<02:03,  1.12it/s]
 70%|██████▉   | 313/450 [21:37<21:06,  9.24s/it]
 70%|██████▉   | 314/450 [21:37<14:50,  6.55s/it]
 70%|███████   | 315/450 [21:37<10:29,  4.66s/it]
 70%|███████   | 316/450 [21:37<07:27,  3.34s/it]
 70%|███████   | 317/450 [21:38<05:20,  2.41s/it]
 71%|███████   | 318/450 [21:38<03:52,  1.76s/it]
 71%|███████   | 319/450 [21:38<02:51,  1.31s/it]
 71%|███████   | 320/450 [21:38<02:08,  1.02it/s]
 71%|███████▏  | 321/450 [22:10<21:58, 10.22s/it]
 72%|███████▏  | 322/450 [22:10<15:24,  7.22s/it]
 72%|███████▏  | 323/450 [22:10<10:50,  5.13s/it]
 72%|███████▏  | 324/450 [22:11<07:40,  3.66s/it]
 72%|███████▏  | 325/450 [22:11<05:28,  2.63s/it]
 72%|███████▏  | 326/450 [22:11<03:56,  1.91s/it]
 73%|███████▎  | 327/450 [22:11<02:52,  1.41s/it]
 73%|███████▎  | 328/450 [22:12<02:09,  1.06s/it]
 73%|███████▎  | 329/450 [23:26<46:34, 23.10s/it]
 73%|███████▎  | 330/450 [23:26<32:29, 16.24s/it]
 74%|███████▎  | 331/450 [23:27<22:41, 11.44s/it]
 74%|███████▍  | 332/450 [23:27<15:53,  8.08s/it]
 74%|███████▍  | 333/450 [23:27<11:10,  5.73s/it]
 74%|███████▍  | 334/450 [23:27<07:53,  4.08s/it]
 74%|███████▍  | 335/450 [23:28<05:37,  2.93s/it]
 75%|███████▍  | 336/450 [23:28<04:02,  2.13s/it]
 75%|███████▍  | 337/450 [24:02<22:17, 11.84s/it]
 75%|███████▌  | 338/450 [24:03<15:36,  8.36s/it]
 75%|███████▌  | 339/450 [24:03<10:56,  5.92s/it]
 76%|███████▌  | 340/450 [24:03<07:43,  4.21s/it]
 76%|███████▌  | 341/450 [24:03<05:28,  3.02s/it]
 76%|███████▌  | 342/450 [24:04<03:55,  2.18s/it]
 76%|███████▌  | 343/450 [24:04<02:50,  1.59s/it]
 76%|███████▋  | 344/450 [24:04<02:05,  1.18s/it]
 77%|███████▋  | 345/450 [24:49<24:53, 14.22s/it]
 77%|███████▋  | 346/450 [24:49<17:22, 10.03s/it]
 77%|███████▋  | 347/450 [24:49<12:09,  7.09s/it]
 77%|███████▋  | 348/450 [24:49<08:32,  5.03s/it]
 78%|███████▊  | 349/450 [24:50<06:02,  3.59s/it]
 78%|███████▊  | 350/450 [24:50<04:18,  2.58s/it]
 78%|███████▊  | 351/450 [24:50<03:05,  1.88s/it]
 78%|███████▊  | 352/450 [24:50<02:16,  1.39s/it]
 78%|███████▊  | 353/450 [26:02<36:27, 22.55s/it]
 79%|███████▊  | 354/450 [26:02<25:22, 15.86s/it]
 79%|███████▉  | 355/450 [26:03<17:41, 11.18s/it]
 79%|███████▉  | 356/450 [26:03<12:22,  7.90s/it]
 79%|███████▉  | 357/450 [26:03<08:41,  5.60s/it]
 80%|███████▉  | 358/450 [26:03<06:07,  4.00s/it]
 80%|███████▉  | 359/450 [26:04<04:21,  2.87s/it]
 80%|████████  | 360/450 [26:04<03:07,  2.08s/it]
 80%|████████  | 361/450 [26:37<17:03, 11.50s/it]
 80%|████████  | 362/450 [26:38<11:55,  8.13s/it]
 81%|████████  | 363/450 [26:38<08:21,  5.76s/it]
 81%|████████  | 364/450 [26:38<05:53,  4.11s/it]
 81%|████████  | 365/450 [26:38<04:10,  2.95s/it]
 81%|████████▏ | 366/450 [26:39<02:59,  2.14s/it]
 82%|████████▏ | 367/450 [26:39<02:10,  1.57s/it]
 82%|████████▏ | 368/450 [26:39<01:36,  1.17s/it]
 82%|████████▏ | 369/450 [27:35<23:42, 17.56s/it]
 82%|████████▏ | 370/450 [27:35<16:29, 12.37s/it]
 82%|████████▏ | 371/450 [27:35<11:29,  8.73s/it]
 83%|████████▎ | 372/450 [27:36<08:02,  6.18s/it]
 83%|████████▎ | 373/450 [27:36<05:38,  4.40s/it]
 83%|████████▎ | 374/450 [27:36<03:59,  3.15s/it]
 83%|████████▎ | 375/450 [27:36<02:50,  2.28s/it]
 84%|████████▎ | 376/450 [27:37<02:03,  1.67s/it]
 84%|████████▍ | 377/450 [28:14<15:10, 12.48s/it]
 84%|████████▍ | 378/450 [28:15<10:33,  8.80s/it]
 84%|████████▍ | 379/450 [28:15<07:22,  6.23s/it]
 84%|████████▍ | 380/450 [28:15<05:10,  4.43s/it]
 85%|████████▍ | 381/450 [28:15<03:38,  3.17s/it]
 85%|████████▍ | 382/450 [28:15<02:35,  2.29s/it]
 85%|████████▌ | 383/450 [28:16<01:52,  1.67s/it]
 85%|████████▌ | 384/450 [28:16<01:21,  1.24s/it]
 86%|████████▌ | 385/450 [29:01<15:41, 14.49s/it]
 86%|████████▌ | 386/450 [29:02<10:53, 10.21s/it]
 86%|████████▌ | 387/450 [29:02<07:34,  7.22s/it]
 86%|████████▌ | 388/450 [29:02<05:17,  5.12s/it]
 86%|████████▋ | 389/450 [29:02<03:42,  3.65s/it]
 87%|████████▋ | 390/450 [29:02<02:37,  2.63s/it]
 87%|████████▋ | 391/450 [29:03<01:52,  1.91s/it]
 87%|████████▋ | 392/450 [29:03<01:21,  1.40s/it]
 87%|████████▋ | 393/450 [29:36<10:24, 10.96s/it]
 88%|████████▊ | 394/450 [29:36<07:13,  7.74s/it]
 88%|████████▊ | 395/450 [29:37<05:01,  5.49s/it]
 88%|████████▊ | 396/450 [29:37<03:31,  3.91s/it]
 88%|████████▊ | 397/450 [29:37<02:28,  2.81s/it]
 88%|████████▊ | 398/450 [29:37<01:46,  2.04s/it]
 89%|████████▊ | 399/450 [29:38<01:16,  1.50s/it]
 89%|████████▉ | 400/450 [29:38<00:56,  1.12s/it]
 89%|████████▉ | 401/450 [31:58<35:02, 42.92s/it]
 89%|████████▉ | 402/450 [31:59<24:05, 30.12s/it]
 90%|████████▉ | 403/450 [31:59<16:34, 21.16s/it]
 90%|████████▉ | 404/450 [31:59<11:24, 14.89s/it]
 90%|█████████ | 405/450 [31:59<07:52, 10.50s/it]
 90%|█████████ | 406/450 [32:00<05:26,  7.42s/it]
 90%|█████████ | 407/450 [32:00<03:46,  5.27s/it]
 91%|█████████ | 408/450 [32:00<02:37,  3.76s/it]
 91%|█████████ | 409/450 [32:40<10:03, 14.72s/it]
 91%|█████████ | 410/450 [32:41<06:55, 10.38s/it]
 91%|█████████▏| 411/450 [32:41<04:46,  7.34s/it]
 92%|█████████▏| 412/450 [32:41<03:18,  5.21s/it]
 92%|█████████▏| 413/450 [32:41<02:17,  3.73s/it]
 92%|█████████▏| 414/450 [32:42<01:36,  2.68s/it]
 92%|█████████▏| 415/450 [32:42<01:08,  1.95s/it]
 92%|█████████▏| 416/450 [32:42<00:49,  1.44s/it]
 93%|█████████▎| 417/450 [33:20<06:53, 12.52s/it]
 93%|█████████▎| 418/450 [33:21<04:42,  8.83s/it]
 93%|█████████▎| 419/450 [33:21<03:13,  6.25s/it]
 93%|█████████▎| 420/450 [33:21<02:13,  4.45s/it]
 94%|█████████▎| 421/450 [33:21<01:32,  3.19s/it]
 94%|█████████▍| 422/450 [33:22<01:04,  2.31s/it]
 94%|█████████▍| 423/450 [33:22<00:45,  1.69s/it]
 94%|█████████▍| 424/450 [33:22<00:32,  1.26s/it]
 94%|█████████▍| 425/450 [33:51<03:54,  9.39s/it]
 95%|█████████▍| 426/450 [33:51<02:39,  6.65s/it]
 95%|█████████▍| 427/450 [33:51<01:48,  4.73s/it]
 95%|█████████▌| 428/450 [33:51<01:14,  3.39s/it]
 95%|█████████▌| 429/450 [33:52<00:51,  2.44s/it]
 96%|█████████▌| 430/450 [33:52<00:35,  1.79s/it]
 96%|█████████▌| 431/450 [33:52<00:25,  1.33s/it]
 96%|█████████▌| 432/450 [33:52<00:18,  1.00s/it]
 96%|█████████▌| 433/450 [35:10<06:47, 23.95s/it]
 96%|█████████▋| 434/450 [35:10<04:29, 16.84s/it]
 97%|█████████▋| 435/450 [35:10<02:57, 11.86s/it]
 97%|█████████▋| 436/450 [35:10<01:57,  8.37s/it]
 97%|█████████▋| 437/450 [35:11<01:17,  5.93s/it]
 97%|█████████▋| 438/450 [35:11<00:50,  4.23s/it]
 98%|█████████▊| 439/450 [35:11<00:33,  3.03s/it]
 98%|█████████▊| 440/450 [35:11<00:21,  2.19s/it]
 98%|█████████▊| 441/450 [35:52<02:04, 13.80s/it]
 98%|█████████▊| 442/450 [35:53<01:17,  9.74s/it]
 98%|█████████▊| 443/450 [35:53<00:48,  6.89s/it]
 99%|█████████▊| 444/450 [35:53<00:29,  4.89s/it]
 99%|█████████▉| 445/450 [35:53<00:17,  3.49s/it]
 99%|█████████▉| 446/450 [35:54<00:10,  2.51s/it]
 99%|█████████▉| 447/450 [35:54<00:05,  1.83s/it]
100%|█████████▉| 448/450 [35:54<00:02,  1.35s/it]
100%|█████████▉| 449/450 [38:03<00:39, 39.76s/it]
100%|█████████▉| 449/450 [38:04<00:05,  5.09s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json.
+MustardInLeftBinTask_2 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.235433385175588, 'joint_sparc_mean': -8.664502505832766, 'ee_isj': 7275.3288555310155, 'joint_isj': 1224494.606816016, 'ee_path_length': 4.544315556575054, 'joint_rmse_mean': 1.0731208476375502, 'ee_speed_max': 1.474372386932373, 'ee_speed_mean': 0.14558014273643494}, events: {'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 14, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 3, 'WRONG_OBJECT_GRABBED': 2, 'wrong_objects_grabbed': ['grey_bin_left', 'grey_bin_left']}, instruction_type: default, timing: {'policy_inference_s': 2186.984, 'policy_inference_avg_ms': 4860.0, 'env_step_s': 93.319, 'env_step_avg_ms': 207.4, 'video_write_s': 3.591, 'video_write_avg_ms': 8.0, 'wall_total_s': 2283.895, 'it_per_sec': 0.2}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: aec48a1503cb460f81972f87535f3990-2
+------------------------------------------------------------------- EXPERIMENT SUMMARY --------------------------------------------------------------------
+Task Name               Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (5 tasks)         10/15    66.7%   [41.3-84.8]    0.733        0.200       18.90   -7.07    4.06       13.8        0.17 66.5       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+MustardInLeftBinTask    1/3      33.3%   [6.8-80.6]     0.333        0.000       9.53    -7.54    3.18       14.2        0.25 27.5       
+RedItemsInBinTask       3/3      100.0%  [39.8-99.4]    1.000        -           23.53   -6.64    3.50       14.5        0.19 30.6       
+ReorientWhiteMugsTask   0/3      0.0%    [0.6-60.2]     0.333        0.333       -       -10.08   8.77       13.6        0.08 198.2      
+SmallPumpkinInBinTask   3/3      100.0%  [39.8-99.4]    1.000        -           23.36   -5.76    3.01       12.3        0.11 59.9       
+TakeSpatulaOffShelfTask 3/3      100.0%  [39.8-99.4]    1.000        -           12.93   -5.31    1.86       14.1        0.20 16.3       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..acb8a3d0573dd23bd876a87dd00d9f7bff685402
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b580726b32d3697b58dd786a67d28d13416e1a7cfeb4ca818c03f57996a77a5d
+size 10137
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..707f0346efae3e511ae99978a223743f16ba1ca4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3b077a098f0fe413ba92d2a0b24201ad3b0003a0ed4a72f80a5c124dd176df9
+size 953665
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..88ba5124215e0d49db5d4e9e737156dcccfc4fca
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22eb2212367d219a798627edd351cbf3c2e6de41a861da1e190d24352722cb37
+size 67929834
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a94d9d5b9860c8a0614e756ac6a4158cf8b44fcd
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43233d5bbf2c399f42c957c030f6298d2a7912017fe2db1c02efff33f53a55da
+size 22923
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c91d293116150df7ccfc3b5599622e9904e2bcc7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3893db5bce5c591564e4b833e2b9594cc0bef62f8b0b24158ffa9025f48b3c95
+size 83023588
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff323e6738e2c55e8261f3149da29a60e6ddab72
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39d3efacc3a72ab81556b89c27e689c12afcdd4a9ac08d2579cdc254482b269
+size 25819
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..33137c365c04686d6f464b18b0e790a494d16cf3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0e41fe0c1799f939b35ad10169b9125cf358ca6ca48bdb028f8bbbad12577f4
+size 95797658
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2614327623f78acdf018b33c43c2889171e8078e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b7d4c3106004472566dae3949d398c47dcc4e77b77f84ba0d512c7cfaed3e76
+size 46285
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..212f4b1187a72054ed0c4e78c6abd5609909defc
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:315a215471275af304030583381e44b6f4c81b4fd17be3d948d298127c480cb5
+size 197660135
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5edce8684f664994018af63b2ca4825bcbdc369
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b8e3a8570bfbef10496f75a98b945d4a49e9e09c6232d4e6ee53ca339302fe9
+size 105384
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab287529258310e34082a9ce751fe567176c3112
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb379df49952802c25146fe2a8941c42fc18fb28f4a1f6ad6169572113751a1a
+size 115250020
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a5531dc232ff8b340f18755e12517a92fbdb915b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870e975cd324c5b7fffd5944b32615d03cabd0c57b4b67cf67ecb1b0fde54c3f
+size 57999
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..26c899ab34d9708076dc300da90dc57c35f8f3cf
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0dd55df0c65227e06b6b61b9de42cb47ff9f2df684d480de413b4b89fef8fe2
+size 22182
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f792dfca804bd9200514c22093f5271a87bddc16
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d28a7ff68aacf7473b71c085440fe9da1728b7eeec42e6acb14a76559f16db
+size 1724252
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5db08207680a1a77b79f0b056fe05c5c0dca1c77
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a1acc98e1cc012134a1b670ddd0309380ffccd00301ce2cbcd93cb54bda8258
+size 194488945
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1a7d8d35b0b1a008cccea160d2cb0a1d98a51bfe
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71ef3f220b36d41042c649193dfd945b330c00dd6b3a637175ef837c8d943099
+size 107369
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8f540ebd2fc1ec35303aeed14dcfe942762e7bbc
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d09c819a2ca0301784122ab00794447789345e2f2ccdbcf9571ce5d5a9f942a4
+size 194406043
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0623cfe39aa374a59585fd34814c628b34b23471
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6611304362f34a58e562ef72c20b36a26e05dd58781e6b59697ce728f3ae2b31
+size 78551
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1aacf479a01f9c1203f0c93369e0fa4bc379692b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b5345d728c22cd56faa5204eb65c2ea8414f4acb4eee132bb2ad5b04bd1b43b
+size 60987035
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..86395b1089fb02f7e398fe497c2bbd3462b55fc3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaa5091673811a45c8332e9373206b703350a51e2d69e50e54b0ecb118c64ecf
+size 10833
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d0c4945837ca8c1204d800d0ca0caec0fac32ff
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:193cb4476f2d912e3d12621f798bcd0a298e8324187eb2cb7ee5f810360823d1
+size 28804270
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e785444d4a8479c23b742be6d7580cdb478e7179
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cfb560bf72e9fc6b22b4f0bf7b3a968b82d0b080a7a22ea42078f3aa1b4c56e
+size 6044
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dae70613d2f7567ac88716d376840c623c84caf8
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b6652ecaaab4175b327b472e9d4dc81c6a54cb3ad662e7e5bcdfb8baa0b1a3f
+size 52640119
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5a3fdfebc55f9c68793e28c579b1a0521e0f819d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0318f03243ee6bd48bf0431f6c51babd534db0f5d3cce0df29d92e2ea94c2a4e
+size 11170
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bd60ca7b839feb1e0d80f02603d73e3cc56a1e71
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:756441d3145b6ea7fc8dc724fbfc7bd51e78f74f633e9b8beb102f92308ba1e4
+size 78970162
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1c561a113cc34c5647e7c26ab141d9cb933ec900
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f81b50e44da7b52687720da867e16ed74b42fbbcb6ea741533e91436dc842566
+size 16876
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ba166c785211a7fa371ad105cb40653767b5cb3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3da219ba9f5e5eef871b462f1ae863c70c6b4dc5235bf3f2ffc189719e3d3f32
+size 107893804
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6122b610b571833e1b673eeeda2b839abd8b37b4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:542891328c787dae74c8af52fcc9e3a6f7c181f41308cb625ab36ef4769f8eb5
+size 21871
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..725385be44786f3b98bd0677d4fcee3c098805d3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa2bfbd4560409ad9e331df15ba655cb9613dc19a387ae8af364d791bcd788e
+size 61157588
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..102fc61d53292830939ef6a15bbde280840ef36f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ac66e36c822e2c3e7e1699dec8d31702a8bf163af5c23aa83b880573f6032b7
+size 12594
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..66e6bef6f903f4ffbed5b7275dd554d820979e77
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2facc3ddf8f1de2b978186b6268d6c7748e3afb6c73651e59c5016c6f2113cad
+size 105490238
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..70746e829aee08ff4674204a54de03e4fcb39322
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef17537adfcf84a37244cb26f7b51b303555588fea48b2c1b65ee823471448c6
+size 19840
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0010/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf4b86b3816d2f8e4d69d6dd50d440d257f2dc3f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9778f245f0db1a2201eaa267cc84098fbea09d40061c03d32bf722fb1ff54e87
+size 32908036
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0010/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0010/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d1bb1debdc989fe29d6dd251a1d7cf53eb9e340b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0010/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79014afe25f0cdf144ff3aa582a10f4a3fe245d360605dbbe7b7abe72c7edc1e
+size 7193
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0010/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0011/events.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0011/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..104d95656677cf654a9f0dd39e82c36d452c7380
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0011/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d055cedf4a6c57744efd7b4b3416f45ef64bd299b6b53d646b82e54477dd1efe
+size 102397519
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0011/network_timing.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0011/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f20e92235a875ef42b041390dfe4d85226398258
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0011/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c76bb842232a5753d0ec0cb82e9d7ec311993bbaa1a92597302245b9bebbdfb9
+size 19305
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0011/stderr.log b/harness_robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval/episode-0011/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab.resume/20261102T092054.142640Z_bdcf5149/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab.resume/20261102T092054.142640Z_bdcf5149/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c00c1e436814c192b1e0786f35f68a080af0e08f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab.resume/20261102T092054.142640Z_bdcf5149/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2249a55a998de8796dd3b4d42e05888df2f8cef27c528925e47288544768ee99
+size 10413944
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab.resume/20261102T092054.142640Z_bdcf5149/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab.resume/20261102T092054.142640Z_bdcf5149/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a5a1f7a2fee726f8babe00e3b67d1e79b3dd45d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab.resume/20261102T092054.142640Z_bdcf5149/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b476d2148ba170365ad4f6200a612dc35473df5d0975c6830fb34c94005b714
+size 2791269
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab.resume/20261102T092054.142640Z_bdcf5149/ReorientWhiteMugsTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab.resume/20261102T092054.142640Z_bdcf5149/ReorientWhiteMugsTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..41d3a61a9af0d4f39ff55825a513a5ba3ed74388
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab.resume/20261102T092054.142640Z_bdcf5149/ReorientWhiteMugsTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cad3c228fbd4bd073d2f57b1287ce3215c7f9ff4353446b07692863cfb7d0ea
+size 533050
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1caefba4cc6eda0ffd51779da6d77d9a5d876ce9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9338b64f9cdf2169987b7945b2800dd339454928eb986bf897a9f73b80e54ac3
+size 10043747
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6643cfe1073999207ae65fc70249f5c004c2602
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92208517d39b0ed6b397c3ff1bccc1d463a54b20b4f1ef29e29723a428edfcc6
+size 3444685
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e4a5d74919b49cd26156f0f7b7f1d371f8b905e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6b1a3ca9e40c5dc7f231bf5fa874ce5f2f3d26952b53ad9cef1bb6b15da11a2
+size 3082710
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca0f594845f3ffba170b95c8420f7a9a83a81ac6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dca54fdc4b3de7facb1bb3df6dfdb8db3b6972a33664c90ee722860f1b07666b
+size 938883
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eba2768d8b90c9b582a9817593dedfde9f4ffdbd
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f62727ba943043115e1c0ae9d4cf684bdab13aeca046fde7d9507c46a937e6e2
+size 10764824
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0289257c189cc3f194d2fa094bd871a973b08d9e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/Put_the_mustard_in_the_left_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025a1a877c24f7ee61356ca1b78490276c9e2f28af6006e79c403c39bbcc34f9
+size 3405379
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..004de1c7a4461cdfd79e19eede71687fdf10f6f2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/env_cfg.json
@@ -0,0 +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:7", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/two_bin.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": [0.5471368432044983, 1.2532538562481932e-08, -0.3449999988079071], "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}, "mustard": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mustard", "spawn": null, "init_state": {"pos": [0.5899075865745544, 3.1596486223861575e-05, 0.10049273818731308], "rot": [0.9999995827674866, -0.0001625543796023939, -0.0008989080091618884, 2.305972504116673e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin_right": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin_right", "spawn": null, "init_state": {"pos": [0.5183118581771851, -0.29250726103782654, 0.005000010132789612], "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}, "grey_bin_left": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin_left", "spawn": null, "init_state": {"pos": [0.5183117985725403, 0.28813636302948, 0.005000028759241104], "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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard", "/World/envs/env_.*/scene/grey_bin_right", "/World/envs/env_.*/scene/grey_bin_left"], "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_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}}}}, "gripper__mustard": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "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__grey_bin_right": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "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__grey_bin_left": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "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}}}}, "table__mustard": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mustard"], "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}}}}, "table__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "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}}}}, "table__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "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}}}}, "mustard__grey_bin_right": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_right"], "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}}}}, "mustard__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mustard", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "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}}}}, "grey_bin_right__grey_bin_left": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin_right", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin_left"], "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 30, "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": "mustard", "container": "grey_bin_left", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mustard": [["functools.partial(<function object_grabbed at 0x7f5bbef742c0>, object='mustard')", 0.0], ["functools.partial(<function object_in_container at 0x7f5bbf1522a0>, object='mustard', container='grey_bin_left', 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": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "MustardInLeftBinTask", "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": "Put the mustard in the left bin", "contact_object_list": ["table", "mustard", "grey_bin_right", "grey_bin_left"], "_instruction_variants": {"default": "Put the mustard in the left bin", "vague": "Use the left bin for mustard", "specific": "Pick up the mustard bottle and place it in the bin on the left side"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..34baf67d18427656ce48a84219f3598f327377af
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 41, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 45, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 45, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 46, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 52, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 54, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 54, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 99, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 102, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 102, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 115, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 120, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 122, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 122, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 207, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 218, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 223, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 252, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 320, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 331, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 433, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7df32bc7bfe7d4f40c0a049331622a3e9a541899
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 143, "events": [{"step": 42, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 46, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 46, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 46, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 68, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 71, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 71, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 72, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 73, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 73, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 97, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 123, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 143, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2f6e578c7db09524602aade75521e0ea3923e5e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 42, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 49, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 49, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 49, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 79, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 92, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 92, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 93, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 94, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 94, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 96, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 96, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 104, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 126, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 126, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 134, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 138, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 174, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 174, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 204, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_left'", "score": 0.0}, {"step": 225, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin_left' nudged 0.053m", "score": 0.0}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 259, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin_left' nudged 0.086m", "score": 0.0}, {"step": 261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 296, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 298, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 314, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 314, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 352, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 352, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 378, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 378, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 435, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_left' (target objects: ['mustard'])", "score": 0.0}, {"step": 439, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_left'", "score": 0.0}, {"step": 440, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_left' (target objects: ['mustard'])", "score": 0.0}, {"step": 441, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_left'", "score": 0.0}, {"step": 443, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin_left' nudged 0.075m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1fcab0bb46afdd60c838899eb9734589c541837e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05dc817de13c32d03e9485bcd81ac186cf491fc27982ff31b7ea51e92786512
+size 339708
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..abb7ffc5ee4189a19bcaa4046717ee8279f32b60
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f97fcfb44b3dfdfcc23e7b7e6c1cd8c27c8a47d5e0712fec4f199a97fe42bc16
+size 229405
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cee6be200bee4815e5db9e8cde4e91b11edffdfc
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/MustardInLeftBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100035b58af3e0da9a1dca86f2e580c743272f8b00060784fa37fa311f8cf6dd
+size 347262
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e14bec6b504dfe283cbb7594d62489bdb8b0b1d4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:becf1b0362ab2dbc5fdf012d45dfdc7a1d045a646f887fcbfda35296aa512a2f
+size 7464791
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac3b8231eab11747fd0efba9ee4896668f32ff15
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33e71cf3a226d4ace2dc5482c3c070a9da1414e9357f597209a41525bed50b9e
+size 1783813
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8badbeb111f22e268d227cf3cd020a35c2980aa
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e99779f4467f08281a6307e5d58dd84aa2338d5246deef4a6a6aeb448369539
+size 11028143
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5838ebd5d2cb877e209441b6ea66eeb398d01b5e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5797a702f61b405a79305ef73fb0e0bc3b779370171458377b53e53da76fa8f6
+size 2848379
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56e24233190e3c859715f3d8edf2f95ccfaa5f07
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f9bf3b69d83dad50f0ca43388fbe7056ff21e493600c21a8a8b93cf5d1b37f9
+size 5906321
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b765d9329145c9e421b5f140383862b3372b56a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/Put_all_the_red_things_in_the_grey_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e993662896a483186e6616d05873bcbbb0f67d3805116e80ebd4b01069effc6d
+size 1605252
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3c16e122af2eb5b54ffa216eda7ad9c524092f0
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/env_cfg.json
@@ -0,0 +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:7", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_banana_bowl_mug_bin.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}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.37651363015174866, -0.21301063895225525, 0.030325712636113167], "rot": [0.9999999403953552, -0.00013068903548728105, -0.00031947125349474667, 8.232872643681093e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.43070706725120544, 0.031155899167060852, 0.03409084305167198], "rot": [0.9999987483024597, -0.0007058795111196671, 0.0014135157511410818, 8.426654660775871e-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": [0.5388621091842651, -0.07553913444280624, 0.021424103528261185], "rot": [0.9999789595603943, -0.0026495461569310936, -0.005916839225075561, 0.00022661698574001523], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.4809686839580536, 0.31765681505203247, 0.002999093383550644], "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}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.612150251865387, 0.07300157099962234, 0.04352624714374542], "rot": [0.9999993443489075, -0.0006294004352500517, -0.0009533495229199647, 7.925613184833387e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [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": [0.19861090183258057, 0.022085392847657204, 0.003002345561981201], "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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/grey_bin", "/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/rubiks_cube"], "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__mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "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_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__grey_bin": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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_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}}}}, "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_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__rubiks_cube": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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}}}}, "mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "mug__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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}}}}, "mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "mug__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "mug__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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__grey_bin": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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_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__banana": {"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_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}}}}, "bowl__rubiks_cube": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "grey_bin__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "grey_bin__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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}}}}, "table__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "table__rubiks_cube": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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__rubiks_cube": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "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": ["mug", "bowl"], "container": "grey_bin", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"mug": [["functools.partial(<function object_grabbed at 0x7f5bbef742c0>, object='mug')", 0.0], ["functools.partial(<function object_in_container at 0x7f5bbf1522a0>, object='mug', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "bowl": [["functools.partial(<function object_grabbed at 0x7f5bbef742c0>, object='bowl')", 0.0], ["functools.partial(<function object_in_container at 0x7f5bbf1522a0>, object='bowl', container='grey_bin', 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": ["color", "sorting", "moderate"], "_task_attributes": ["color", "sorting", "moderate"], "_task_name": "RedItemsInBinTask", "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": "Put all the red things in the grey bin", "contact_object_list": ["mug", "bowl", "grey_bin", "table", "banana", "rubiks_cube"], "_instruction_variants": {"default": "Put all the red things in the grey bin", "vague": "Sort items by color", "specific": "Identify every red-colored object on the table and place each one into the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..72dea799299e6b7ea1b9acd6662b62a1f9608f4b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 337, "events": [{"step": 32, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 43, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 210, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 336, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 336, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1be5d580288043e9aeb6c3e115a6186019c8374
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 465, "events": [{"step": 10, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 51, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 52, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 55, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 55, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 96, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 152, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 198, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 201, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 313, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 313, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 319, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 345, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 412, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 415, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 465, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 465, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b5e004e4180718cbeab210fe7d10313eaa4b5cf
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 257, "events": [{"step": 34, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 38, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 39, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 39, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 57, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 58, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 58, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 67, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 80, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 136, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 257, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9f41732e399336607233f99a904fb64ba6712df5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7722fdfba468dad3a9bf7d98fe5fa16259d450f018b8c8ae54997cd4082629a8
+size 361945
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..07ad688925638cbb160b7ec4f8ae32ac07c63724
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0040b2f7eb641a264d97359e6ebb86b5a360e94130c7beffafd1767fc076ab36
+size 417931
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..54572838ec921175e1173a17b4b9fdd66cb6228f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/RedItemsInBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21cd0e20623e58a7afcd4a47b03da100466d765ea7ddccd85126cc3fafcc3b4b
+size 330630
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..163eea383ff28f496f1fd63245ccecbf1782475d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac53e1f3dc443f1003c214f6913d664ade77e7d010a41e72fec8fb61d6bd9666
+size 16735645
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16730a1b663abaaa6bf14617f24d17e71bec3183
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79f3ec1bd301eab22520e5d84e9d81386f32ac6252b5e272f221e593404891ac
+size 3999025
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..984acf79677bcf69c5740a92189c3ac334f85e2d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23da9d602a8742ab50b751ca3a463a44a529f844abc2932969659d6f0959800b
+size 15893101
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf8de7ea190ffb885f2ae8935c6ccc5ab1b7f442
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69bc8cb995be997f704587f5ba90bcc2a8aed4999f64c701390c62a917630d0d
+size 2888148
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..334313298cc42611b1702d061f78f0f287d6fdf8
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89159855cee7cfbda6023eb546ff512516c89d2ed55500c7babc018085a00a9b
+size 16763125
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f962a6635d078b22c883528b39d532b111434dc
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/Make_sure_all_the_white_mugs_are_upright_so_that_the_opening_is_facing_upwards_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7cf3593ca70ea1125b8f7a5f56ad9d0673478473b0d2e52444e9884b545edd
+size 3806124
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..df9f430c4011f84d14eefab0567f1541406a3fe7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/env_cfg.json
@@ -0,0 +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:7", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/mugs4_measuringcup_drill_bowl_v2.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": [0.19859781861305237, 0.022068122401833534, 0.05000331252813339], "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": [0.3577835559844965, -0.15699950562908752, 0.07734613120555886], "rot": [0.9999995827674866, -0.0005100198318133888, -0.0007578271317653915, -6.531637603328665e-06], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.4228050112724304, 0.38089555501937866, 0.09759876877069473], "rot": [-0.07831525057554245, -0.6183157783848653, 0.33409981131658834, 0.7070570244370876], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "red_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_mug", "spawn": null, "init_state": {"pos": [0.39351657032966614, 0.03161013871431351, 0.10334596782922745], "rot": [0.7180227041244508, -0.1619565392647481, -0.6584077103990432, 0.1572029345727593], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "measuring_cup": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "spawn": null, "init_state": {"pos": [0.33294488523219357, -0.13786247714482544, 0.15878276657184598], "rot": [0.6315095424652098, -0.6293708753387485, 0.3064612184923824, 0.33342093607163176], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "cordless_drill": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "spawn": null, "init_state": {"pos": [0.6272314190864563, -0.13758935034275055, 0.07787983864545822], "rot": [0.7692766785621643, -0.0007317252418772974, 0.00015319586883993998, -0.6389153566236773], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "upright_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "spawn": null, "init_state": {"pos": [0.5596883296966553, 0.20370197296142578, 0.050025418400764465], "rot": [0.8934262990951538, -0.001972623371147258, 0.002114251239366738, -0.44920049731035383], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sideways_white_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "spawn": null, "init_state": {"pos": [0.2661939859390259, 0.17003755271434784, 0.08165376633405685], "rot": [0.5630677342414856, -0.4930617350200139, 0.4112477168205797, -0.5203077623148377], "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug", "/World/envs/env_.*/scene/bowl", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/upright_white_mug", "/World/envs/env_.*/scene/sideways_white_mug", "/World/envs/env_.*/scene/cordless_drill", "/World/envs/env_.*/scene/measuring_cup"], "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__red_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_mug"], "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_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__ceramic_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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__upright_white_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "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__sideways_white_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "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__cordless_drill": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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__measuring_cup": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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_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}}}}, "red_mug__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "red_mug__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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}}}}, "red_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "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}}}}, "red_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "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}}}}, "red_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "red_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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}}}}, "red_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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__ceramic_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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__upright_white_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "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__sideways_white_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "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__cordless_drill": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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__measuring_cup": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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_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}}}}, "ceramic_mug__upright_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/upright_white_mug"], "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}}}}, "ceramic_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "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}}}}, "ceramic_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "ceramic_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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}}}}, "ceramic_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "upright_white_mug__sideways_white_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/sideways_white_mug"], "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}}}}, "upright_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "upright_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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}}}}, "upright_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/upright_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "sideways_white_mug__cordless_drill": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/cordless_drill"], "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}}}}, "sideways_white_mug__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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}}}}, "sideways_white_mug__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/sideways_white_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "cordless_drill__measuring_cup": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/measuring_cup"], "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}}}}, "cordless_drill__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/cordless_drill", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "measuring_cup__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/measuring_cup", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["upright_white_mug", "sideways_white_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_sideways_white_mug": [["functools.partial(<function object_grabbed at 0x7f5bbef742c0>, object='sideways_white_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f5bc0b823e0>, object='sideways_white_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_white_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientWhiteMugsTask", "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": "Make sure all the white mugs are upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Make sure all the white mugs are upright so that the opening is facing upwards.", "vague": "Fix the cups", "specific": "For each white mug that is tipped over or upside down, rotate it so the opening faces straight up"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..33964a69bf40da3570a7a77ee57acadee809a2fd
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 89, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 89, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 96, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 97, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 99, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 100, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 100, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 101, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 110, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.052m", "score": 0.0}, {"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 160, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 180, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 184, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 184, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 234, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 288, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 288, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 320, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.217m", "score": 0.0}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 353, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 378, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 379, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 379, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 405, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 425, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 426, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 426, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 435, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.062m", "score": 0.0}, {"step": 440, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.074m", "score": 0.0}, {"step": 483, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.057m", "score": 0.0}, {"step": 505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.167m", "score": 0.0}, {"step": 553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 562, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 568, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 569, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 575, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 576, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 576, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.076m", "score": 0.0}, {"step": 584, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 593, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 602, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.066m", "score": 0.0}, {"step": 604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_white_mugs' 1/1", "score": 1.0}, {"step": 610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 636, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 636, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 1.0}, {"step": 641, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 674, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 716, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 718, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 718, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 730, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.103m", "score": 1.0}, {"step": 744, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 757, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 772, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.084m", "score": 1.0}, {"step": 788, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 799, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 814, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 824, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: [])", "score": 1.0}, {"step": 825, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 1.0}, {"step": 856, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 857, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 870, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 873, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 890, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f673a84809a4a0875bb9ac19d93cbeb6fb36ddb
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 27, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.096m", "score": 0.0}, {"step": 37, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 37, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 55, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 56, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 61, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.059m", "score": 0.0}, {"step": 73, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 73, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 82, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 157, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 158, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 197, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 198, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 210, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.050m", "score": 0.0}, {"step": 211, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.290m", "score": 0.0}, {"step": 213, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.060m", "score": 0.0}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 249, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 251, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.080m", "score": 0.0}, {"step": 284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 306, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 306, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 306, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 377, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.225m", "score": 0.0}, {"step": 385, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 441, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 491, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 491, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 544, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 544, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 545, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 554, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 573, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 1.245m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc9291564ff3b6f8f467a3ad94ccf68da2552400
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 49, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 49, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 49, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 52, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 77, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 78, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 84, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.190m", "score": 0.0}, {"step": 129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.072m", "score": 0.0}, {"step": 192, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.0}, {"step": 203, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 209, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 243, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 252, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 283, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 285, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 287, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.052m", "score": 0.0}, {"step": 294, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.094m", "score": 0.0}, {"step": 346, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 347, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 514, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 514, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 529, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.051m", "score": 0.5}, {"step": 537, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 542, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.088m", "score": 0.0}, {"step": 570, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 591, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 612, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 615, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 615, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 615, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 621, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.086m", "score": 0.0}, {"step": 658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 660, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 665, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 665, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 682, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 684, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 685, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 685, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 690, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 731, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 731, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 744, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.125m", "score": 0.0}, {"step": 763, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 764, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 770, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.177m", "score": 0.0}, {"step": 773, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.059m", "score": 0.0}, {"step": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 826, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 849, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 849, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 857, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 859, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 864, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 864, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 872, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 893, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 1.060m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0fc9d2ebe7426be02227ea5a4ad77d3dd4ef5c4f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dc7d634a0ae14f3ea37601a90625a679443ec5431ed8c68c1cd2ac66526ddcf
+size 738914
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2d5bcc81a60142fcddf5312762b2cc526a7f49f6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de0ef95c5264bc9021cd0340e46c3daa22dfcc6b14f622d8780fe50addbe4c50
+size 725557
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a7d29627f50cf0e324f8c691b2160c5d6816eb7d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/ReorientWhiteMugsTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:271e81fed7455d408fb992ebcd46a8a288c98a8e5bca1e4a2c95aabf7cc9d1c2
+size 733126
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2508432237be2d0131695d3b1a0684861354474
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd2759b559e6250c832e55fcff1da60974966e63011fcdc8d6f923d346444a4c
+size 6722781
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1515e4ec1175dfc091534e6b7b49bb7c5a5ddc5f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:102c0e74c5ce971c2b42553d113e1a0eb8f89a379abe925578d3dba8d59b27e5
+size 1896197
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b078d702f79f36c3fc8454f26d4474459ee2c908
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f391494c64922c1ec7664f1c69bf2851d470faa97ab89fb26dd4760cd27559d
+size 8201874
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..936c1c6c27b1eeb65310352ba44c13ea16eeae53
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88e4be2d3b04d7d190e17c6d7d4e9c8605ee4049191350fe1dd9ee5bb98b6e69
+size 2238844
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfff26ca15b122f19a78b245bc7476235ad3b82b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd68a727a1f81a7963c287c4bc5048a7892f79a25155786b681a1a76e3cf73a5
+size 9939294
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..765564d7539cdb7d2bd8347e82dc5790cc1d0d97
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/Put_the_small_pumpkin_in_the_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ff4e0c37f69213b3eac5b0bee5ac9015d1a274b2d3abb1d6e78575467c0750c
+size 2065583
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..85d1b7fac74b9d9b72655bcb912792cbd1eb16c4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/env_cfg.json
@@ -0,0 +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:7", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/clutter_fruit_bottle_bluebin.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": [0.5471951961517334, -5.8073303080163896e-05, -0.3470001220703125], "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}, "lemon_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_01", "spawn": null, "init_state": {"pos": [0.42004135231769196, 0.24292358325906008, 0.0012257490307096648], "rot": [0.9846045970916748, -0.16874899526712514, -0.034167048716950296, 0.030169135954648194], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lemon_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lemon_02", "spawn": null, "init_state": {"pos": [0.4783624110678453, 0.06863716244697649, 0.0005861949175596484], "rot": [0.989768385887146, 0.14194340769289784, -0.008274530855149887, -0.01192239279711131], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01", "spawn": null, "init_state": {"pos": [0.4800299106100824, -0.15183968842029988, 0.006471998989582058], "rot": [0.9476653337478638, -0.29089067142251884, 0.12936576046996942, 0.02403190608197013], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "lime01_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/lime01_01", "spawn": null, "init_state": {"pos": [0.37394365649020833, 0.07729133963584861, 0.006466416642069829], "rot": [0.9476335644721985, -0.2911056799881831, 0.12859947642382488, 0.026651176856777665], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_01", "spawn": null, "init_state": {"pos": [0.5467105803946302, -0.024539051577445625, 0.0013540238142013665], "rot": [0.9693353176116943, -0.04060796698326201, -0.24204914570234276, 0.012338805164520043], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "orange_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/orange_02", "spawn": null, "init_state": {"pos": [0.44774821381366525, -0.024718308821323143, 0.0029870755970478093], "rot": [0.9742560386657716, 0.07376372951924767, -0.21295188765032888, -0.00596463551707301], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pomegranate01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "spawn": null, "init_state": {"pos": [0.618233889148591, 0.06038472056388822, 0.0014266334474086814], "rot": [0.9938273429870605, 0.09737984038826487, -0.05288813607347244, 0.005217669969386112], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "pumpkinlarge": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "spawn": null, "init_state": {"pos": [0.605211645172, 0.2390698939561846, 0.002787627279758442], "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}, "pumpkinsmall": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "spawn": null, "init_state": {"pos": [0.509778767631412, 0.20728765428066104, 0.0027397200465202275], "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}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.42710998635089487, 0.18918211758136536, 0.0030382685363292863], "rot": [0.9999993443489075, -4.062506945318602e-07, 1.9921224614790785e-07, 0.0011451207580229664], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "avocado01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/avocado01", "spawn": null, "init_state": {"pos": [0.3237164775318006, 0.3751741051673868, 0.04620943846160508], "rot": [0.8237728476524353, -0.5130934104975109, 0.14720055420049882, -0.19095927423850437], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "crabbypenholder": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "spawn": null, "init_state": {"pos": [0.25074413399493706, 0.3030255734920471, 0.010265939086708446], "rot": [0.9999998211860657, 1.9076973700592745e-06, -7.99542283520071e-07, 0.000598016352703504], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "milkjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "spawn": null, "init_state": {"pos": [0.6447099447250366, 0.40290379524230957, 0.0029997751116752625], "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}, "serving_bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "spawn": null, "init_state": {"pos": [0.34600949624756583, 0.39387801289558205, 0.009603579000957901], "rot": [0.9999989867210388, -7.789356750222853e-06, -1.4550870762228825e-05, 0.0014234762006126085], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "spawn": null, "init_state": {"pos": [0.5616968274116515, 0.3863130509853362, 0.005757811823843203], "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}, "right_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/right_bin", "spawn": null, "init_state": {"pos": [0.5060220327993279, -0.29056422266758647, 0.002997465431690216], "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}, "red_onion": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_onion", "spawn": null, "init_state": {"pos": [0.7519021312696973, 0.18498873936468602, 0.0], "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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01", "/World/envs/env_.*/scene/lemon_02", "/World/envs/env_.*/scene/lime01", "/World/envs/env_.*/scene/lime01_01", "/World/envs/env_.*/scene/orange_01", "/World/envs/env_.*/scene/orange_02", "/World/envs/env_.*/scene/pomegranate01", "/World/envs/env_.*/scene/pumpkinlarge", "/World/envs/env_.*/scene/pumpkinsmall", "/World/envs/env_.*/scene/red_onion", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/avocado01", "/World/envs/env_.*/scene/crabbypenholder", "/World/envs/env_.*/scene/milkjug_a01", "/World/envs/env_.*/scene/serving_bowl", "/World/envs/env_.*/scene/utilityjug_a03", "/World/envs/env_.*/scene/right_bin"], "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__lemon_01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_01"], "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__lemon_02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "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__lime01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "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__lime01_01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "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__orange_01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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__orange_02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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__pomegranate01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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__pumpkinlarge": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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__pumpkinsmall": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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__red_onion": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "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__whitepackerbottle_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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__avocado01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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__crabbypenholder": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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__milkjug_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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__serving_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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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__utilityjug_a03": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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__right_bin": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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_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}}}}, "lemon_01__lemon_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lemon_02"], "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}}}}, "lemon_01__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "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}}}}, "lemon_01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "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}}}}, "lemon_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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}}}}, "lemon_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "lemon_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "lemon_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "lemon_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "lemon_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "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}}}}, "lemon_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "lemon_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "lemon_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "lemon_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "lemon_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "lemon_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "lemon_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "lemon_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "lemon_02__lime01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01"], "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}}}}, "lemon_02__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "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}}}}, "lemon_02__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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}}}}, "lemon_02__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "lemon_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "lemon_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "lemon_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "lemon_02__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "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}}}}, "lemon_02__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "lemon_02__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "lemon_02__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "lemon_02__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "lemon_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "lemon_02__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "lemon_02__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "lemon_02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lemon_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "lime01__lime01_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/lime01_01"], "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}}}}, "lime01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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}}}}, "lime01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "lime01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "lime01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "lime01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "lime01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "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}}}}, "lime01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "lime01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "lime01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "lime01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "lime01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "lime01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "lime01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "lime01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "lime01_01__orange_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_01"], "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}}}}, "lime01_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "lime01_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "lime01_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "lime01_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "lime01_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "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}}}}, "lime01_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "lime01_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "lime01_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "lime01_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "lime01_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "lime01_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "lime01_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "lime01_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/lime01_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "orange_01__orange_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/orange_02"], "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}}}}, "orange_01__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "orange_01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "orange_01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "orange_01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "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}}}}, "orange_01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "orange_01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "orange_01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "orange_01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "orange_01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "orange_01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "orange_01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "orange_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "orange_02__pomegranate01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pomegranate01"], "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}}}}, "orange_02__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "orange_02__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "orange_02__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "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}}}}, "orange_02__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "orange_02__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "orange_02__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "orange_02__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "orange_02__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "orange_02__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "orange_02__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "orange_02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/orange_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "pomegranate01__pumpkinlarge": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinlarge"], "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}}}}, "pomegranate01__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "pomegranate01__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "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}}}}, "pomegranate01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "pomegranate01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "pomegranate01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "pomegranate01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "pomegranate01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "pomegranate01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "pomegranate01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "pomegranate01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pomegranate01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "pumpkinlarge__pumpkinsmall": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/pumpkinsmall"], "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}}}}, "pumpkinlarge__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "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}}}}, "pumpkinlarge__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "pumpkinlarge__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "pumpkinlarge__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "pumpkinlarge__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "pumpkinlarge__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "pumpkinlarge__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "pumpkinlarge__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "pumpkinlarge__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinlarge", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "pumpkinsmall__red_onion": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_onion"], "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}}}}, "pumpkinsmall__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "pumpkinsmall__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "pumpkinsmall__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "pumpkinsmall__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "pumpkinsmall__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "pumpkinsmall__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "pumpkinsmall__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "pumpkinsmall__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/pumpkinsmall", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "red_onion__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "red_onion__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "red_onion__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "red_onion__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "red_onion__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "red_onion__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "red_onion__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "red_onion__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_onion", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a01__avocado01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/avocado01"], "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}}}}, "whitepackerbottle_a01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "whitepackerbottle_a01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "whitepackerbottle_a01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "whitepackerbottle_a01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "whitepackerbottle_a01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "avocado01__crabbypenholder": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/crabbypenholder"], "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}}}}, "avocado01__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "avocado01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "avocado01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "avocado01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "avocado01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/avocado01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "crabbypenholder__milkjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/milkjug_a01"], "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}}}}, "crabbypenholder__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "crabbypenholder__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "crabbypenholder__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "crabbypenholder__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/crabbypenholder", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "milkjug_a01__serving_bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/serving_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}}}}, "milkjug_a01__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "milkjug_a01__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "milkjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/milkjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "serving_bowl__utilityjug_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a03"], "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}}}}, "serving_bowl__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "serving_bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/serving_bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "utilityjug_a03__right_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/right_bin"], "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}}}}, "utilityjug_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "right_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/right_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "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": "pumpkinsmall", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"pumpkinsmall": [["functools.partial(<function object_grabbed at 0x7f6d13eb4a40>, object='pumpkinsmall')", 0.0], ["functools.partial(<function object_in_container at 0x7f6d13eb4900>, object='pumpkinsmall', container='right_bin', 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": ["size", "simple"], "_task_attributes": ["size", "simple"], "_task_name": "SmallPumpkinInBinTask", "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": "Put the small pumpkin in the bin", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Put the small pumpkin in the bin", "vague": "Put away the small pumpkin", "specific": "Identify the smaller pumpkin of the two pumpkins on the table and place it in the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4f559817d6307ef51b4406f4c6f8c52a5073d67
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 289, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 65, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 72, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 72, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 73, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 78, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 78, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 79, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 88, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 97, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 97, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 218, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 289, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fdc055a2ad6cc602333eeb78e1960dbf537f7a3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 353, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 59, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'whitepackerbottle_a01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 59, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 88, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 90, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'whitepackerbottle_a01' nudged 0.163m", "score": 0.0}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 153, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 158, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 158, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 159, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 165, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 165, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 193, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 251, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 251, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 353, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 353, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..da3ff70b24a8975822ad0cc3189f9dfc1ca36070
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 409, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 48, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 69, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'whitepackerbottle_a01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 69, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 73, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 108, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 108, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 110, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 226, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 409, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..53a8c5155c7cb5ef06f804f6cb89156caa9171c1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53a698d53cfd35ced2e5921f6e70f27e2d508e0b2f30229939fd871adf0b3fe9
+size 736326
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d52924505c53fc3c4b94ebc1e55ab359466c69ee
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c375f6e20bb295776c067cc2f8e1a220e1c736eb1b5f156078091ddfac9d8276
+size 794060
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..343a421031a2615ed4b83236bb307db9491926d2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/SmallPumpkinInBinTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cc3ab4bd797cfa03e306588b5b67056ecc12c23cdcc9127b709262c7930e386
+size 848232
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..332f2d56363ef8b217b930943ece47b000622838
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764e64e988fb15031e6b28dfe98fe030a3c277503b4feaee70ba54c0b0f6ac9d
+size 6251364
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed7620d5c9b9fd8ce0249243e9a75c47c5e9104b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad63d20c615e4f0dfb280b4b7c656e3f25ba1e10029f0af83bf80332815a020e
+size 1226638
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5466270c56f21cfd1e498187916dd8f3dbe65acc
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6818714f3bb591997f1a4b6f63182ec63ba7bf80574279c635bc4aadef5aabf
+size 2674142
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a39d82cfda5818e5e7d8534263d926ad759701e9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:879b62cc129bd1dba5cb4fb74d4f2d29baa92dad1baa97e3ac08cb4fbb33873b
+size 660022
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb5f20eed72e1c5a28f9c515f8397c3b6f4a5297
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b36b159b89f80e2993b6e6f9d9de37263c73ebd95413834474e7eab2e52fcb6c
+size 5587787
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2_viewport.mp4 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d9242e22e18cf9b355f15d030400906b63fc688
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/Take_the_spatula_off_the_shelf_and_put_it_on_the_table_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b18450aa1b24fbd32fcb562f700cef86cadf34e9b696c63cd86ff6d126de8bcc
+size 1182942
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/env_cfg.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..6975bd7f379ad11216ef2837ac42362a6fcf552a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/env_cfg.json
@@ -0,0 +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:7", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/wire_shelf_mugs_plate_spatula.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": [0.5471948981285095, -5.743423753301613e-05, -0.3469998240470886], "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}, "wireshelving_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "spawn": null, "init_state": {"pos": [0.41964787244796753, 0.27813032269477844, 0.00300009548664093], "rot": [0.9999994039535522, -1.851806177954209e-06, 1.4014767047196113e-06, 0.0010918274345854157], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "spatula_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/spatula_01", "spawn": null, "init_state": {"pos": [0.34557458758354187, 0.3195316791534424, 0.1960526555776596], "rot": [0.9974027872085571, 0.001141250963763657, 4.311542631822928e-05, -0.0720164964150536], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plate_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plate_small", "spawn": null, "init_state": {"pos": [0.3285421133041382, -0.11671658605337143, 0.0028548259288072586], "rot": [0.9856335520744324, 0.0005606650072762441, 9.961156318894264e-05, 0.16889694123169696], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_big": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_big", "spawn": null, "init_state": {"pos": [0.3289452791213989, -0.02117539942264557, 0.013585123233497143], "rot": [0.9965218305587769, 0.07855446006194756, 0.011680336565407803, 0.025239012696203326], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "fork_small": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/fork_small", "spawn": null, "init_state": {"pos": [0.348644495010376, 0.37387433648109436, 0.19016678631305695], "rot": [0.9998441934585571, 0.016889608901442116, 0.005124753391098125, -0.00025849766757412624], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "ceramic_mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "spawn": null, "init_state": {"pos": [0.6134013533592224, -0.12643824517726898, 0.002795230597257614], "rot": [0.9999955892562866, -0.001384895545501545, 0.0026189072781798383, 0.00021179463743058427], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug", "spawn": null, "init_state": {"pos": [0.5376058220863342, -0.29392483830451965, 0.003037039190530777], "rot": [0.9999966621398926, -0.0024172569202343297, 0.0009024336205745309, 0.00013487629728620396], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "mug_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/mug_01", "spawn": null, "init_state": {"pos": [0.4037923216819763, -0.14007866382598877, 0.05663011223077774], "rot": [0.6496669650077819, -0.011240714971599888, -0.005198479542477169, 0.7601180544592736], "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01", "/World/envs/env_.*/scene/spatula_01", "/World/envs/env_.*/scene/plate_small", "/World/envs/env_.*/scene/fork_big", "/World/envs/env_.*/scene/fork_small", "/World/envs/env_.*/scene/ceramic_mug", "/World/envs/env_.*/scene/mug", "/World/envs/env_.*/scene/mug_01"], "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_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}}}}, "gripper__wireshelving_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01"], "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__spatula_01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "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__plate_small": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "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__fork_big": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "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__fork_small": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "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__ceramic_mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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__mug": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "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__mug_01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "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}}}}, "table__wireshelving_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/wireshelving_a01"], "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}}}}, "table__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "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}}}}, "table__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "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}}}}, "table__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "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}}}}, "table__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "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}}}}, "table__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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}}}}, "table__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "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}}}}, "table__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "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}}}}, "wireshelving_a01__spatula_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/spatula_01"], "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}}}}, "wireshelving_a01__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "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}}}}, "wireshelving_a01__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "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}}}}, "wireshelving_a01__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "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}}}}, "wireshelving_a01__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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}}}}, "wireshelving_a01__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "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}}}}, "wireshelving_a01__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/wireshelving_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "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}}}}, "spatula_01__plate_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plate_small"], "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}}}}, "spatula_01__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "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}}}}, "spatula_01__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "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}}}}, "spatula_01__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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}}}}, "spatula_01__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "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}}}}, "spatula_01__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/spatula_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "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}}}}, "plate_small__fork_big": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_big"], "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}}}}, "plate_small__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "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}}}}, "plate_small__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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}}}}, "plate_small__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "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}}}}, "plate_small__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plate_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "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}}}}, "fork_big__fork_small": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/fork_small"], "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}}}}, "fork_big__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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}}}}, "fork_big__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "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}}}}, "fork_big__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_big", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "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}}}}, "fork_small__ceramic_mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/ceramic_mug"], "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}}}}, "fork_small__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "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}}}}, "fork_small__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/fork_small", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "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}}}}, "ceramic_mug__mug": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug"], "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}}}}, "ceramic_mug__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/ceramic_mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "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}}}}, "mug__mug_01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/mug", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/mug_01"], "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_outside_of_and_on_surface", "params": {"object": ["spatula_01"], "container": "wireshelving_a01", "surface": "table", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spatula_01": [["functools.partial(<function object_grabbed at 0x7f5bbef742c0>, object='spatula_01')", 0.0], ["functools.partial(<function object_on_top at 0x7f5bbf279da0>, object='spatula_01', reference_object='table', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": 2, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "moderate"], "_task_attributes": ["affordance", "spatial", "moderate"], "_task_name": "TakeSpatulaOffShelfTask", "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": "Take the spatula off the shelf and put it on the table", "contact_object_list": ["table", "wireshelving_a01", "spatula_01", "plate_small", "fork_big", "fork_small", "ceramic_mug", "mug", "mug_01"], "_instruction_variants": {"default": "Take the spatula off the shelf and put it on the table", "vague": "Take the spatula off the shelf", "specific": "Reach up and remove the spatula from the shelf, then place it flat on the table surface"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1130c39ea36eb40eeead74d06eb9fa400c2d48c8
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 0, "success": true, "final_step": 250, "events": [{"step": 13, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 90, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 161, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'fork_small' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 161, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'fork_small'", "score": 0.0}, {"step": 162, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'fork_small'", "score": 0.0}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 172, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.0}, {"step": 183, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 1.677m", "score": 0.0}, {"step": 191, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 221, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 250, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f91ac41d5a901cc91509d8b415247868c79e59f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 1, "success": true, "final_step": 113, "events": [{"step": 6, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 66, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 113, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4799012ade813dbc37230979f99740c77992fafa
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 2, "success": true, "final_step": 219, "events": [{"step": 26, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 212, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 219, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..712369a87647dac9083d37c272ba3224c2cd5516
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cde9b098d674b94ad4c4af63b42810edd552461e5b63ae0eff06715e2ee7757
+size 429416
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b6d725fe4b12b4435fd8a39b8a200a7bd72b38d0
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674ffbb8819057442adf92d8496b8df6cc4e64b965f50451fc0a7c8c269226c7
+size 349392
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..92be84004eadcdd12b6acf0de03e00fdcec8487d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:962e7f9278f8b3ef4e41e65145ef82a3328050783cf1f6716f1fa52efeb78606
+size 414209
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_image640/gpu_7/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..995e498606de820310255de71b0dd442f81df1e4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1467a7b6760f2bd0358b9aeea980c69fcc5baeb54e82145c6f1544f8167b368f
+size 18705
diff --git a/harness_robolab_exploration/embo_image640/gpu_7/server.log b/harness_robolab_exploration/embo_image640/gpu_7/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..8231d0047878b22640557b02345cf155215125f8
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/gpu_7/server.log
@@ -0,0 +1,91 @@
+[2026-11-02T00:40:08Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8103
+INFO:websockets.server:server listening on 127.0.0.1:8103
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 47908) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e23c5be31612464dba052bb33e4a9a0d-0 (codex/gpt-6-astra) ended: wall=1668.940s harness=1455.483s tokens=2936895 usage_complete=False decisions=37 executed_steps=289 steps_complete=True network_wait=1080.3367951139808 rate_limit_wait=0 rate_limit_count=0 excluded=1080.3367951139808 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 5770ba14f9e542c98efc7b1b6e89a126-1 (codex/gpt-6-astra) ended: wall=1683.369s harness=1425.318s tokens=3361571 usage_complete=False decisions=45 executed_steps=353 steps_complete=True network_wait=979.3046367317438 rate_limit_wait=0 rate_limit_count=0 excluded=979.3046367317438 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2e617136d88744a188a0504e70562195-2 (codex/gpt-6-astra) ended: wall=2531.609s harness=2233.767s tokens=4615494 usage_complete=False decisions=52 executed_steps=409 steps_complete=True network_wait=2839.3067557141185 rate_limit_wait=0 rate_limit_count=0 excluded=2839.3067557141185 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 71ab2e1341d04cb8adb120bd91f357d6-0 (codex/gpt-6-astra) ended: wall=6439.408s harness=6141.114s tokens=14496112 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=6470.680349968374 rate_limit_wait=0 rate_limit_count=0 excluded=6470.680349968374 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d287eae07c1241d6ac90c3018cc5c1f1-1 (codex/gpt-6-astra) execution_error: wall=N/As harness=N/As tokens=6385873 usage_complete=False decisions=68 executed_steps=544 steps_complete=False network_wait=3956.486914932728 rate_limit_wait=0 rate_limit_count=0 excluded=3956.486914932728 timing=partial; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T004010.739368Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-02T09:20:54Z] GPU 7: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-02T09:21:24Z] GPU 7: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8103
+INFO:websockets.server:server listening on 127.0.0.1:8103
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 47192) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7b458cc8742f442689eedb918f080937-1 (codex/gpt-6-astra) ended: wall=5855.872s harness=5558.386s tokens=12100058 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=7256.953848980367 rate_limit_wait=0 rate_limit_count=0 excluded=7256.953848980367 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode cce4440c7467403e91e5df1a76859556-2 (codex/gpt-6-astra) ended: wall=5996.662s harness=5703.330s tokens=13204911 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=3649.3261703923345 rate_limit_wait=0 rate_limit_count=0 excluded=3649.3261703923345 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3a9891d9aafc4a9b815c949e5aab968f-0 (codex/gpt-6-astra) ended: wall=1209.729s harness=1118.935s tokens=2567530 usage_complete=False decisions=32 executed_steps=250 steps_complete=True network_wait=62.43503276258707 rate_limit_wait=0 rate_limit_count=0 excluded=62.43503276258707 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 4cb946fa8de34d0c917ef53395f5e54a-1 (codex/gpt-6-astra) ended: wall=505.521s harness=464.244s tokens=1198208 usage_complete=False decisions=15 executed_steps=113 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode dc60db021f974188825b9085af3657ab-2 (codex/gpt-6-astra) ended: wall=1049.538s harness=970.676s tokens=2237423 usage_complete=False decisions=28 executed_steps=219 steps_complete=True network_wait=109.69569047540426 rate_limit_wait=0 rate_limit_count=0 excluded=109.69569047540426 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f6c0b8022f384928a81743f297b842ef-0 (codex/gpt-6-astra) ended: wall=1396.181s harness=1300.985s tokens=3467021 usage_complete=False decisions=43 executed_steps=337 steps_complete=True network_wait=276.68015296012163 rate_limit_wait=0 rate_limit_count=0 excluded=276.68015296012163 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1e83c9569bcb4e84a7788289e944f2ac-1 (codex/gpt-6-astra) ended: wall=2252.307s harness=2122.961s tokens=5621981 usage_complete=False decisions=59 executed_steps=465 steps_complete=True network_wait=295.98854023963213 rate_limit_wait=0 rate_limit_count=0 excluded=295.98854023963213 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2346f5d93a774695862dde68215c684f-2 (codex/gpt-6-astra) ended: wall=1106.633s harness=1033.119s tokens=2524136 usage_complete=False decisions=33 executed_steps=257 steps_complete=True network_wait=175.76693902164698 rate_limit_wait=0 rate_limit_count=0 excluded=175.76693902164698 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode bf5e70143e804f8ba80dcfe35aed8bae-0 (codex/gpt-6-astra) ended: wall=1999.786s harness=1889.943s tokens=4436666 usage_complete=False decisions=57 executed_steps=450 steps_complete=True network_wait=245.04257303476334 rate_limit_wait=0 rate_limit_count=0 excluded=245.04257303476334 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6561e9ba4ce74cffae4ed8563c5f3172-1 (codex/gpt-6-astra) ended: wall=409.989s harness=373.629s tokens=1352293 usage_complete=False decisions=18 executed_steps=143 steps_complete=True network_wait=3.447718821465969 rate_limit_wait=0 rate_limit_count=0 excluded=3.447718821465969 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode aec48a1503cb460f81972f87535f3990-2 (codex/gpt-6-astra) ended: wall=2161.559s harness=2050.855s tokens=4503454 usage_complete=False decisions=57 executed_steps=450 steps_complete=True network_wait=122.62177076935768 rate_limit_wait=0 rate_limit_count=0 excluded=122.62177076935768 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640/gpu_7/harness/20261102T092127.392803Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 47192) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_image640/progress.log b/harness_robolab_exploration/embo_image640/progress.log
new file mode 100644
index 0000000000000000000000000000000000000000..0e444681db5aafc928f77c5ecf3f29cc9b250e93
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640/progress.log
@@ -0,0 +1,63 @@
+[Batch] Committed trajectories only; means exclude interrupted retries. Corrected times require complete network and rate-limit coverage; raw times include waiting. Both exclude wrap-up; tokens require complete usage.
+[Batch] Initial | Tasks 0/20 | Episodes 0/60 | Success N/A | Mean Harness N/A | Mean Wall N/A | Mean Tokens N/A | Mean Raw Harness N/A | Mean Raw Wall N/A
+[Batch] GPU 5 finished FruitsOnionToPlateTask/0: SUCCESS | Tasks 0/20 | Episodes 1/60 | Success 100.00% (1/1) | Mean Harness 347.546s | Mean Wall 423.536s | Mean Tokens N/A (0/1 complete) | Mean Raw Harness 347.546s | Mean Raw Wall 423.536s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/1: SUCCESS | Tasks 0/20 | Episodes 2/60 | Success 100.00% (2/2) | Mean Harness 453.975s | Mean Wall 533.133s | Mean Tokens N/A (0/2 complete) | Mean Raw Harness 527.539s | Mean Raw Wall 606.697s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/0: SUCCESS | Tasks 0/20 | Episodes 3/60 | Success 100.00% (3/3) | Mean Harness 787.811s | Mean Wall 911.735s | Mean Tokens N/A (0/3 complete) | Mean Raw Harness 1196.966s | Mean Raw Wall 1320.890s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/2: SUCCESS | Tasks 1/20 | Episodes 4/60 | Success 100.00% (4/4) | Mean Harness 827.939s | Mean Wall 955.147s | Mean Tokens N/A (0/4 complete) | Mean Raw Harness 1314.975s | Mean Raw Wall 1442.183s
+[Batch] GPU 6 finished MarkerInMugTask/0: SUCCESS | Tasks 1/20 | Episodes 5/60 | Success 100.00% (5/5) | Mean Harness 1098.545s | Mean Wall 1243.598s | Mean Tokens N/A (0/5 complete) | Mean Raw Harness 1965.549s | Mean Raw Wall 2110.602s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/1: SUCCESS | Tasks 1/20 | Episodes 6/60 | Success 100.00% (6/6) | Mean Harness 1153.007s | Mean Wall 1316.893s | Mean Tokens N/A (0/6 complete) | Mean Raw Harness 2038.728s | Mean Raw Wall 2202.614s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/0: SUCCESS | Tasks 1/20 | Episodes 7/60 | Success 100.00% (7/7) | Mean Harness 1303.267s | Mean Wall 1458.786s | Mean Tokens N/A (0/7 complete) | Mean Raw Harness 2211.948s | Mean Raw Wall 2367.467s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/0: SUCCESS | Tasks 1/20 | Episodes 8/60 | Success 100.00% (8/8) | Mean Harness 1580.584s | Mean Wall 1746.019s | Mean Tokens N/A (0/8 complete) | Mean Raw Harness 3074.120s | Mean Raw Wall 3239.556s
+[Batch] GPU 6 finished MarkerInMugTask/1: FAILURE | Tasks 1/20 | Episodes 9/60 | Success 88.89% (8/9) | Mean Harness 1695.154s | Mean Wall 1881.907s | Mean Tokens N/A (0/9 complete) | Mean Raw Harness 3228.890s | Mean Raw Wall 3415.643s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/1: SUCCESS | Tasks 1/20 | Episodes 10/60 | Success 90.00% (9/10) | Mean Harness 1716.702s | Mean Wall 1894.045s | Mean Tokens N/A (0/10 complete) | Mean Raw Harness 3210.813s | Mean Raw Wall 3388.156s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/2: SUCCESS | Tasks 2/20 | Episodes 11/60 | Success 90.91% (10/11) | Mean Harness 1763.708s | Mean Wall 1952.006s | Mean Tokens N/A (0/11 complete) | Mean Raw Harness 3380.109s | Mean Raw Wall 3568.407s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/2: SUCCESS | Tasks 3/20 | Episodes 12/60 | Success 91.67% (11/12) | Mean Harness 1715.451s | Mean Wall 1894.914s | Mean Tokens N/A (0/12 complete) | Mean Raw Harness 3259.152s | Mean Raw Wall 3438.615s
+[Batch] GPU 6 finished MarkerInMugTask/2: SUCCESS | Tasks 4/20 | Episodes 13/60 | Success 92.31% (12/13) | Mean Harness 1774.112s | Mean Wall 1959.745s | Mean Tokens N/A (0/13 complete) | Mean Raw Harness 3286.703s | Mean Raw Wall 3472.335s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/1: SUCCESS | Tasks 4/20 | Episodes 14/60 | Success 92.86% (13/14) | Mean Harness 1857.754s | Mean Wall 2044.761s | Mean Tokens N/A (0/14 complete) | Mean Raw Harness 3382.300s | Mean Raw Wall 3569.307s
+[Batch] GPU 6 finished SpoonInMugTask/0: SUCCESS | Tasks 4/20 | Episodes 15/60 | Success 93.33% (14/15) | Mean Harness 1842.363s | Mean Wall 2030.469s | Mean Tokens N/A (0/15 complete) | Mean Raw Harness 3281.048s | Mean Raw Wall 3469.153s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/2: SUCCESS | Tasks 5/20 | Episodes 16/60 | Success 93.75% (15/16) | Mean Harness 1854.640s | Mean Wall 2041.520s | Mean Tokens N/A (0/16 complete) | Mean Raw Harness 3236.046s | Mean Raw Wall 3422.926s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/0: SUCCESS | Tasks 5/20 | Episodes 17/60 | Success 94.12% (16/17) | Mean Harness 1780.551s | Mean Wall 1959.513s | Mean Tokens 1,157,648.0 (1/17 complete) | Mean Raw Harness 3095.821s | Mean Raw Wall 3274.783s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/1: SUCCESS | Tasks 5/20 | Episodes 18/60 | Success 94.44% (17/18) | Mean Harness 1713.558s | Mean Wall 1885.495s | Mean Tokens 1,157,648.0 (1/18 complete) | Mean Raw Harness 2955.758s | Mean Raw Wall 3127.695s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/2: SUCCESS | Tasks 6/20 | Episodes 19/60 | Success 94.74% (18/19) | Mean Harness 1641.806s | Mean Wall 1806.032s | Mean Tokens 1,157,648.0 (1/19 complete) | Mean Raw Harness 2818.627s | Mean Raw Wall 2982.853s
+[Batch] GPU 5 finished ReorientRedMugTask/0: SUCCESS | Tasks 6/20 | Episodes 20/60 | Success 95.00% (19/20) | Mean Harness 1772.554s | Mean Wall 1940.205s | Mean Tokens 1,157,648.0 (1/20 complete) | Mean Raw Harness 3029.249s | Mean Raw Wall 3196.900s
+[Batch] GPU 5 finished ReorientRedMugTask/1: SUCCESS | Tasks 6/20 | Episodes 21/60 | Success 95.24% (20/21) | Mean Harness 1703.807s | Mean Wall 1864.999s | Mean Tokens 1,157,648.0 (1/21 complete) | Mean Raw Harness 2903.100s | Mean Raw Wall 3064.292s
+[Batch] GPU 5 finished ReorientRedMugTask/2: SUCCESS | Tasks 7/20 | Episodes 22/60 | Success 95.45% (21/22) | Mean Harness 1647.956s | Mean Wall 1803.258s | Mean Tokens 1,157,648.0 (1/22 complete) | Mean Raw Harness 2801.146s | Mean Raw Wall 2956.448s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/0: SUCCESS | Tasks 7/20 | Episodes 23/60 | Success 95.65% (22/23) | Mean Harness 1599.390s | Mean Wall 1750.185s | Mean Tokens 1,157,648.0 (1/23 complete) | Mean Raw Harness 2728.397s | Mean Raw Wall 2879.191s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/1: SUCCESS | Tasks 7/20 | Episodes 24/60 | Success 95.83% (23/24) | Mean Harness 1581.416s | Mean Wall 1729.144s | Mean Tokens 1,157,648.0 (1/24 complete) | Mean Raw Harness 2717.483s | Mean Raw Wall 2865.211s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/0: FAILURE | Tasks 7/20 | Episodes 25/60 | Success 92.00% (23/25) | Mean Harness 1763.804s | Mean Wall 1917.554s | Mean Tokens 1,157,648.0 (1/25 complete) | Mean Raw Harness 3113.255s | Mean Raw Wall 3267.006s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/2: SUCCESS | Tasks 8/20 | Episodes 26/60 | Success 92.31% (24/26) | Mean Harness 1723.881s | Mean Wall 1874.215s | Mean Tokens 1,157,648.0 (1/26 complete) | Mean Raw Harness 3032.380s | Mean Raw Wall 3182.714s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/0: SUCCESS | Tasks 8/20 | Episodes 27/60 | Success 92.59% (25/27) | Mean Harness 1697.847s | Mean Wall 1844.498s | Mean Tokens 1,157,648.0 (1/27 complete) | Mean Raw Harness 2968.223s | Mean Raw Wall 3114.875s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/1: FAILURE | Tasks 8/20 | Episodes 28/60 | Success 89.29% (25/28) | Mean Harness 1687.223s | Mean Wall 1831.225s | Mean Tokens 1,157,648.0 (1/28 complete) | Mean Raw Harness 2929.845s | Mean Raw Wall 3073.847s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/2: SUCCESS | Tasks 9/20 | Episodes 29/60 | Success 89.66% (26/29) | Mean Harness 1662.669s | Mean Wall 1803.572s | Mean Tokens 1,157,648.0 (1/29 complete) | Mean Raw Harness 2875.353s | Mean Raw Wall 3016.256s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/0: FAILURE | Tasks 9/20 | Episodes 30/60 | Success 86.67% (26/30) | Mean Harness 1796.677s | Mean Wall 1940.367s | Mean Tokens 1,157,648.0 (1/30 complete) | Mean Raw Harness 3276.304s | Mean Raw Wall 3419.995s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/1: SUCCESS | Tasks 9/20 | Episodes 31/60 | Success 87.10% (27/31) | Mean Harness 1789.206s | Mean Wall 1931.176s | Mean Tokens 1,157,648.0 (1/31 complete) | Mean Raw Harness 3250.765s | Mean Raw Wall 3392.734s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/2: SUCCESS | Tasks 10/20 | Episodes 32/60 | Success 87.50% (28/32) | Mean Harness 1763.797s | Mean Wall 1903.304s | Mean Tokens 1,157,648.0 (1/32 complete) | Mean Raw Harness 3184.998s | Mean Raw Wall 3324.505s
+[Batch] GPU 6 finished SpoonInMugTask/1: FAILURE | Tasks 10/20 | Episodes 33/60 | Success 84.85% (28/33) | Mean Harness 1890.832s | Mean Wall 2040.844s | Mean Tokens 1,157,648.0 (1/33 complete) | Mean Raw Harness 3535.727s | Mean Raw Wall 3685.738s
+[Batch] GPU 5 finished FoodPacking1CansTask/0: SUCCESS | Tasks 10/20 | Episodes 34/60 | Success 85.29% (29/34) | Mean Harness 1853.212s | Mean Wall 2000.169s | Mean Tokens 1,157,648.0 (1/34 complete) | Mean Raw Harness 3456.986s | Mean Raw Wall 3603.943s
+[Batch] GPU 5 finished FoodPacking1CansTask/1: SUCCESS | Tasks 10/20 | Episodes 35/60 | Success 85.71% (30/35) | Mean Harness 1808.525s | Mean Wall 1951.873s | Mean Tokens 1,157,648.0 (1/35 complete) | Mean Raw Harness 3368.251s | Mean Raw Wall 3511.598s
+[Batch] GPU 6 finished SpoonInMugTask/2: SUCCESS | Tasks 11/20 | Episodes 36/60 | Success 86.11% (31/36) | Mean Harness 1780.107s | Mean Wall 1922.515s | Mean Tokens 1,157,648.0 (1/36 complete) | Mean Raw Harness 3306.836s | Mean Raw Wall 3449.244s
+[Batch] GPU 5 finished FoodPacking1CansTask/2: SUCCESS | Tasks 12/20 | Episodes 37/60 | Success 86.49% (32/37) | Mean Harness 1744.204s | Mean Wall 1883.679s | Mean Tokens 1,157,648.0 (1/37 complete) | Mean Raw Harness 3231.317s | Mean Raw Wall 3370.792s
+[Batch] GPU 6 finished ClampInRightBinTask/0: SUCCESS | Tasks 12/20 | Episodes 38/60 | Success 86.84% (33/38) | Mean Harness 1732.597s | Mean Wall 1870.495s | Mean Tokens 1,157,648.0 (1/38 complete) | Mean Raw Harness 3195.382s | Mean Raw Wall 3333.281s
+[Batch] GPU 6 finished ClampInRightBinTask/1: SUCCESS | Tasks 12/20 | Episodes 39/60 | Success 87.18% (34/39) | Mean Harness 1716.589s | Mean Wall 1853.100s | Mean Tokens 1,157,648.0 (1/39 complete) | Mean Raw Harness 3146.583s | Mean Raw Wall 3283.094s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/1: FAILURE | Tasks 12/20 | Episodes 40/60 | Success 85.00% (34/40) | Mean Harness 1812.633s | Mean Wall 1953.169s | Mean Tokens 1,157,648.0 (1/40 complete) | Mean Raw Harness 3388.302s | Mean Raw Wall 3528.838s
+[Batch] GPU 6 finished ClampInRightBinTask/2: SUCCESS | Tasks 13/20 | Episodes 41/60 | Success 85.37% (35/41) | Mean Harness 1791.632s | Mean Wall 1930.493s | Mean Tokens 1,157,648.0 (1/41 complete) | Mean Raw Harness 3335.917s | Mean Raw Wall 3474.778s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/0: SUCCESS | Tasks 13/20 | Episodes 42/60 | Success 85.71% (36/42) | Mean Harness 1755.043s | Mean Wall 1891.216s | Mean Tokens 1,157,648.0 (1/42 complete) | Mean Raw Harness 3262.560s | Mean Raw Wall 3398.732s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/1: SUCCESS | Tasks 13/20 | Episodes 43/60 | Success 86.05% (37/43) | Mean Harness 1723.351s | Mean Wall 1857.133s | Mean Tokens 1,157,648.0 (1/43 complete) | Mean Raw Harness 3201.198s | Mean Raw Wall 3334.980s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/2: FAILURE | Tasks 14/20 | Episodes 44/60 | Success 84.09% (37/44) | Mean Harness 1772.189s | Mean Wall 1908.231s | Mean Tokens 1,157,648.0 (1/44 complete) | Mean Raw Harness 3257.188s | Mean Raw Wall 3393.230s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/0: SUCCESS | Tasks 14/20 | Episodes 45/60 | Success 84.44% (38/45) | Mean Harness 1750.287s | Mean Wall 1884.405s | Mean Tokens 1,157,648.0 (1/45 complete) | Mean Raw Harness 3202.287s | Mean Raw Wall 3336.404s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/2: FAILURE | Tasks 15/20 | Episodes 46/60 | Success 82.61% (38/46) | Mean Harness 1836.223s | Mean Wall 1973.802s | Mean Tokens 1,157,648.0 (1/46 complete) | Mean Raw Harness 3335.990s | Mean Raw Wall 3473.569s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/1: SUCCESS | Tasks 15/20 | Episodes 47/60 | Success 82.98% (39/47) | Mean Harness 1818.160s | Mean Wall 1954.299s | Mean Tokens 1,157,648.0 (1/47 complete) | Mean Raw Harness 3288.766s | Mean Raw Wall 3424.905s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/0: SUCCESS | Tasks 15/20 | Episodes 48/60 | Success 83.33% (40/48) | Mean Harness 1803.592s | Mean Wall 1938.787s | Mean Tokens 1,157,648.0 (1/48 complete) | Mean Raw Harness 3244.862s | Mean Raw Wall 3380.056s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/1: SUCCESS | Tasks 15/20 | Episodes 49/60 | Success 83.67% (41/49) | Mean Harness 1776.259s | Mean Wall 1909.536s | Mean Tokens 1,157,648.0 (1/49 complete) | Mean Raw Harness 3188.115s | Mean Raw Wall 3321.392s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/2: SUCCESS | Tasks 16/20 | Episodes 50/60 | Success 84.00% (42/50) | Mean Harness 1780.410s | Mean Wall 1912.935s | Mean Tokens 1,157,648.0 (1/50 complete) | Mean Raw Harness 3175.563s | Mean Raw Wall 3308.088s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/2: SUCCESS | Tasks 17/20 | Episodes 51/60 | Success 84.31% (43/51) | Mean Harness 1764.533s | Mean Wall 1896.005s | Mean Tokens 1,157,648.0 (1/51 complete) | Mean Raw Harness 3134.481s | Mean Raw Wall 3265.953s
+[Batch] GPU 6 finished BananaInBowlTask/0: SUCCESS | Tasks 17/20 | Episodes 52/60 | Success 84.62% (44/52) | Mean Harness 1740.815s | Mean Wall 1870.440s | Mean Tokens 1,157,648.0 (1/52 complete) | Mean Raw Harness 3085.664s | Mean Raw Wall 3215.288s
+[Batch] GPU 6 finished BananaInBowlTask/1: SUCCESS | Tasks 17/20 | Episodes 53/60 | Success 84.91% (45/53) | Mean Harness 1716.880s | Mean Wall 1844.541s | Mean Tokens 1,157,648.0 (1/53 complete) | Mean Raw Harness 3036.353s | Mean Raw Wall 3164.015s
+[Batch] GPU 7 finished RedItemsInBinTask/0: SUCCESS | Tasks 17/20 | Episodes 54/60 | Success 85.19% (46/54) | Mean Harness 1709.178s | Mean Wall 1836.238s | Mean Tokens 1,157,648.0 (1/54 complete) | Mean Raw Harness 3009.341s | Mean Raw Wall 3136.401s
+[Batch] GPU 6 finished BananaInBowlTask/2: SUCCESS | Tasks 18/20 | Episodes 55/60 | Success 85.45% (47/55) | Mean Harness 1686.695s | Mean Wall 1812.009s | Mean Tokens 1,258,225.5 (2/55 complete) | Mean Raw Harness 2964.201s | Mean Raw Wall 3089.515s
+[Batch] GPU 7 finished RedItemsInBinTask/1: SUCCESS | Tasks 18/20 | Episodes 56/60 | Success 85.71% (48/56) | Mean Harness 1694.486s | Mean Wall 1819.872s | Mean Tokens 1,258,225.5 (2/56 complete) | Mean Raw Harness 2954.464s | Mean Raw Wall 3079.850s
+[Batch] GPU 7 finished RedItemsInBinTask/2: SUCCESS | Tasks 19/20 | Episodes 57/60 | Success 85.96% (49/57) | Mean Harness 1682.883s | Mean Wall 1807.359s | Mean Tokens 1,258,225.5 (2/57 complete) | Mean Raw Harness 2923.840s | Mean Raw Wall 3048.316s
+[Batch] GPU 7 finished MustardInLeftBinTask/0: FAILURE | Tasks 19/20 | Episodes 58/60 | Success 84.48% (49/58) | Mean Harness 1686.453s | Mean Wall 1810.677s | Mean Tokens 1,258,225.5 (2/58 complete) | Mean Raw Harness 2910.239s | Mean Raw Wall 3034.463s
+[Batch] GPU 7 finished MustardInLeftBinTask/1: SUCCESS | Tasks 19/20 | Episodes 59/60 | Success 84.75% (50/59) | Mean Harness 1664.202s | Mean Wall 1786.936s | Mean Tokens 1,258,225.5 (2/59 complete) | Mean Raw Harness 2867.304s | Mean Raw Wall 2990.039s
+[Batch] GPU 7 finished MustardInLeftBinTask/2: FAILURE | Tasks 20/20 | Episodes 60/60 | Success 83.33% (50/60) | Mean Harness 1670.646s | Mean Wall 1793.180s | Mean Tokens 1,258,225.5 (2/60 complete) | Mean Raw Harness 2855.740s | Mean Raw Wall 2978.274s
+[Batch] Final | Tasks 20/20 | Episodes 60/60 | Success 83.33% (50/60) | Mean Harness 1670.646s | Mean Wall 1793.180s | Mean Tokens 1,258,225.5 (2/60 complete) | Mean Raw Harness 2855.740s | Mean Raw Wall 2978.274s
diff --git a/harness_robolab_exploration/embo_image640_v2/assignments.tsv b/harness_robolab_exploration/embo_image640_v2/assignments.tsv
new file mode 100644
index 0000000000000000000000000000000000000000..020239adde4cd72ec0a6d41cea011b107855f042
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/assignments.tsv
@@ -0,0 +1,5 @@
+gpu	port	estimated_seconds	tasks
+4	8100	14395.854	PlasticBottlesInSquarePailTask OneBottleInSquarePailTask BananasInBinThreeTotalTask BowlStackingRightOnLeftTask
+5	8101	13334.856	FruitsOnionToPlateTask BlockStackingSpecifiedOrderTask ReorientRedMugTask BananaThenRubiksCubeTask FoodPacking1CansTask
+6	8102	14549.234	MarkerInMugTask SpoonInMugTask ClampInRightBinTask FoodPacking1BoxesTask RubiksCubeThenBananaTask BananaInBowlTask
+7	8103	13272.163	SmallPumpkinInBinTask ReorientWhiteMugsTask TakeSpatulaOffShelfTask RedItemsInBinTask MustardInLeftBinTask
diff --git a/harness_robolab_exploration/embo_image640_v2/batch_manifest.json b/harness_robolab_exploration/embo_image640_v2/batch_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..b25a5178c85e463404eeebb9fb2d2586fd957168
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/batch_manifest.json
@@ -0,0 +1,38 @@
+{
+  "generations": [
+    {
+      "gpus": [
+        4,
+        5,
+        6,
+        7
+      ],
+      "path": "."
+    }
+  ],
+  "runs": 3,
+  "schema_version": 1,
+  "task_costs": {
+    "BananaInBowlTask": 425.86899999999997,
+    "BananaThenRubiksCubeTask": 719.5473000000001,
+    "BananasInBinThreeTotalTask": 589.033,
+    "BlockStackingSpecifiedOrderTask": 905.3386,
+    "BowlStackingRightOnLeftTask": 451.9177,
+    "ClampInRightBinTask": 888.4855,
+    "FoodPacking1BoxesTask": 721.0428,
+    "FoodPacking1CansTask": 467.5319,
+    "FruitsOnionToPlateTask": 1483.3265,
+    "MarkerInMugTask": 1356.3095,
+    "MustardInLeftBinTask": 503.56759999999997,
+    "OneBottleInSquarePailTask": 783.6646,
+    "PlasticBottlesInSquarePailTask": 2974.0027,
+    "RedItemsInBinTask": 766.2022,
+    "ReorientRedMugTask": 869.2076999999999,
+    "ReorientWhiteMugsTask": 1090.1975,
+    "RubiksCubeThenBananaTask": 522.5474,
+    "SmallPumpkinInBinTask": 1174.1926,
+    "SpoonInMugTask": 935.4904,
+    "TakeSpatulaOffShelfTask": 889.8943
+  },
+  "task_set": "sub"
+}
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/client.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..6cc9a4c8c42c70d0cf1ae41ed14938b8d5e28ee9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/client.log
@@ -0,0 +1,833 @@
+[2026-11-03T14:47:21Z] GPU 4: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:4
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_144726.log
+2026-11-03T14:47:26Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T14:47:26Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T14:47:26Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T14:47:26Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T14:47:26Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T14:47:26Z [33ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T14:47:26Z [37ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T14:47:26Z [44ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T14:47:26Z [48ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T14:47:26Z [64ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T14:47:26Z [76ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T14:47:26Z [84ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T14:47:26Z [87ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T14:47:26Z [90ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T14:47:26Z [93ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T14:47:26Z [96ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T14:47:26Z [101ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T14:47:30Z [4,399ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:30Z [4,400ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:31Z [4,489ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T14:47:34Z [7,970ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:34Z [7,972ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:34Z [7,973ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 916375
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T14:47:38Z [12,382ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T14:47:38Z [12,383ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 916.54  20.23   6.21   5.83  11.05   3.78  12.41  11.27 
+     1  15.59 921.29  11.19   6.67   9.74  16.30  17.97  20.31 
+     2   2.86   8.78 893.37  19.04   8.84  19.66  15.16  13.40 
+     3  12.91  10.95  18.70 900.06   3.19   4.57  16.71  21.41 
+     4  16.26  16.00   5.54  15.00 896.06   4.10   1.61   4.37 
+     5  10.35  12.94  13.43  15.46  13.08 896.44  15.77  10.06 
+     6  16.35  15.68  15.62  14.75  16.29  16.58 893.37  15.98 
+     7   9.75  11.68  15.98  16.36  16.27  12.69  15.93 922.92 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.40  35.53  17.72  19.86  31.52  21.59  19.60  19.87 
+     1  24.97   1.45  18.46  19.34  31.89  22.67  20.03  18.90 
+     2  28.91  80.40   1.46  11.90  27.49  15.87  14.68  15.03 
+     3  10.53  50.37  50.70   1.45  28.38  15.78  14.28  14.70 
+     4 349.30 571.38 796.53 171.86   1.57 245.72 330.56 244.69 
+     5 100.56  16.89  14.38  17.26  25.28   1.47  16.31  33.22 
+     6  54.98  80.13  62.28  61.87  41.65  39.68   1.43  54.21 
+     7  42.31  14.09  89.25  14.12  15.11 680.89  23.34   1.33 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.47   7.03   8.30   6.79   7.87   7.64   7.58   7.52 
+     1   7.00   2.37   6.84   6.71   7.86   7.57   7.52   7.55 
+     2   6.90   6.86   2.36   6.78   7.80   7.66   7.50   7.55 
+     3   6.81   6.76   6.87   2.36   7.79   7.65   7.52   7.47 
+     4   7.36   7.41   7.32   7.38   2.58   8.33   8.29   8.13 
+     5   7.27   7.32   7.25   7.27   8.19   2.50   8.13   8.09 
+     6   7.35   7.42   7.39   7.40   8.37   8.02   2.54   8.07 
+     7   7.23   7.09   7.31   7.24   8.04   8.11   8.09   2.49 
+2026-11-03T14:47:44Z [18,111ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.6 GB/s.
+2026-11-03T14:47:44Z [18,112ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 796.5 us.
+2026-11-03T14:47:44Z [18,112ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T14:47:48Z [22,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [22,122ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [22,271ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [22,271ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [22,285ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [22,285ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [22,503ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [22,503ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [22,511ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [22,512ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [22,517ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [22,517ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:50Z [23,831ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T14:47:53Z [26,534ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T14:48:06Z [39,940ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T14:48:08Z [41,513ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T14:48:24Z [57,883ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T14:48:24Z [57,887ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T14:48:25Z [58,576ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T14:48:30Z [64,023ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,024ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,027ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:30Z [64,051ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T14:48:30Z [64,072ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,072ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 4 task(s): ['PlasticBottlesInSquarePailTask', 'OneBottleInSquarePailTask', 'BananasInBinThreeTotalTask', 'BowlStackingRightOnLeftTask']
+2026-11-03T14:48:46Z [79,713ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55be50e3de30>)
+
+2026-11-03T14:48:46Z [79,714ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55be50e3de30>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Environments   : PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 4
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T14:48:50Z [83,997ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.725216 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T14:48:57Z [90,670ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:48:57Z [90,671ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:48:57Z [90,754ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:48:57Z [90,755ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:48:57Z [90,766ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:48:57Z [90,775ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T14:48:57Z [91,019ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:57Z [91,121ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:59Z [93,143ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((31))' not available in the MDL representation.
+2026-11-03T14:48:59Z [93,143ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((31))' not available in the MDL representation.
+2026-11-03T14:49:00Z [94,138ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation.
+2026-11-03T14:49:00Z [94,138ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((61))' not available in the MDL representation.
+2026-11-03T14:49:02Z [96,166ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((68))' not available in the MDL representation.
+2026-11-03T14:49:02Z [96,166ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((68))' not available in the MDL representation.
+2026-11-03T14:49:02Z [96,194ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((75))' not available in the MDL representation.
+2026-11-03T14:49:02Z [96,194ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((75))' not available in the MDL representation.
+2026-11-03T14:49:03Z [97,377ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T14:49:03Z [97,377ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T14:49:04Z [97,686ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-03T14:49:04Z [97,686ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-03T14:49:04Z [97,691ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T14:49:04Z [97,692ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T14:49:04Z [98,435ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:04Z [98,435ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:05Z [98,518ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T14:49:05Z [98,518ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T14:49:05Z [98,523ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-03T14:49:05Z [98,523ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,540ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,540ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,554ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,554ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,665ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,665ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-03T14:49:07Z [100,755ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((205))' not available in the MDL representation.
+2026-11-03T14:49:07Z [100,755ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((205))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,172ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((249))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,173ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((249))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,196ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((251))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,196ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((251))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,208ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((255))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,208ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((255))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,231ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((262))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,231ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((262))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,794ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T14:49:08Z [102,108ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((75))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,108ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((75))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,112ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,112ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,113ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,113ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,115ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,115ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,121ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((249))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,121ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((249))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,122ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((262))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,122ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((262))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 17.399891 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : PlasticBottlesInSquarePailTask                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put all the small plastic bottles in the square pail │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : PlasticBottlesInSquarePailTaskSceneEnvCfg     │
+│  Attributes  : semantics, sorting, size, complex             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running PlasticBottlesInSquarePailTask_0: 'Put all the small plastic bottles in the square pail' (run 0, 1 envs)
+
  0%|          | 0/2700 [00:00<?, ?it/s]
  0%|          | 1/2700 [00:59<44:40:42, 59.59s/it]
  0%|          | 2/2700 [00:59<18:32:42, 24.75s/it]
  0%|          | 3/2700 [01:00<10:11:44, 13.61s/it]
  0%|          | 4/2700 [01:00<6:16:16,  8.37s/it] 
  0%|          | 5/2700 [01:00<4:06:05,  5.48s/it]
  0%|          | 6/2700 [01:01<2:47:25,  3.73s/it]
  0%|          | 7/2700 [01:01<1:57:39,  2.62s/it]
  0%|          | 8/2700 [01:02<1:24:56,  1.89s/it]
  0%|          | 9/2700 [01:31<7:48:31, 10.45s/it]
  0%|          | 10/2700 [01:31<5:28:17,  7.32s/it]
  0%|          | 11/2700 [01:31<3:52:13,  5.18s/it]
  0%|          | 12/2700 [01:32<2:46:05,  3.71s/it]
  0%|          | 13/2700 [01:32<2:00:12,  2.68s/it]
  1%|          | 14/2700 [01:32<1:28:22,  1.97s/it]
  1%|          | 15/2700 [01:33<1:06:13,  1.48s/it]
  1%|          | 16/2700 [01:33<50:46,  1.14s/it]  
  1%|          | 17/2700 [02:13<9:37:20, 12.91s/it]
  1%|          | 18/2700 [02:14<6:48:16,  9.13s/it]
  1%|          | 19/2700 [02:14<4:50:14,  6.50s/it]
  1%|          | 20/2700 [02:14<3:27:26,  4.64s/it]
  1%|          | 21/2700 [02:15<2:29:37,  3.35s/it]
  1%|          | 22/2700 [02:15<1:49:15,  2.45s/it]
  1%|          | 23/2700 [02:15<1:20:58,  1.81s/it]
  1%|          | 24/2700 [02:16<1:01:13,  1.37s/it]
  1%|          | 25/2700 [02:51<8:36:24, 11.58s/it]
  1%|          | 26/2700 [02:52<6:06:03,  8.21s/it]
  1%|          | 27/2700 [02:52<4:20:48,  5.85s/it]
  1%|          | 28/2700 [02:52<3:07:04,  4.20s/it]
  1%|          | 29/2700 [02:53<2:15:27,  3.04s/it]
  1%|          | 30/2700 [02:53<1:39:20,  2.23s/it]2026-11-03T14:52:03Z [277,387ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  1%|          | 31/2700 [02:53<1:14:03,  1.66s/it]
  1%|          | 32/2700 [02:54<56:27,  1.27s/it]  
  1%|          | 33/2700 [03:20<6:37:34,  8.94s/it]
  1%|▏         | 34/2700 [03:21<4:43:10,  6.37s/it]
  1%|▏         | 35/2700 [03:21<3:23:05,  4.57s/it]
  1%|▏         | 36/2700 [03:22<2:27:07,  3.31s/it]
  1%|▏         | 37/2700 [03:22<1:47:56,  2.43s/it]
  1%|▏         | 38/2700 [03:22<1:20:36,  1.82s/it]
  1%|▏         | 39/2700 [03:23<1:01:17,  1.38s/it]
  1%|▏         | 40/2700 [03:23<47:55,  1.08s/it]  
  2%|▏         | 41/2700 [03:46<5:42:06,  7.72s/it]
  2%|▏         | 42/2700 [03:47<4:04:09,  5.51s/it]
  2%|▏         | 43/2700 [03:47<2:55:39,  3.97s/it]
  2%|▏         | 44/2700 [03:47<2:07:51,  2.89s/it]
  2%|▏         | 45/2700 [03:48<1:34:22,  2.13s/it]
  2%|▏         | 46/2700 [03:48<1:10:52,  1.60s/it]
  2%|▏         | 47/2700 [03:48<54:41,  1.24s/it]  
  2%|▏         | 48/2700 [03:49<43:06,  1.03it/s]
  2%|▏         | 49/2700 [04:07<4:29:24,  6.10s/it]
  2%|▏         | 50/2700 [04:07<3:13:27,  4.38s/it]
  2%|▏         | 51/2700 [04:08<2:20:23,  3.18s/it]
  2%|▏         | 52/2700 [04:08<1:43:17,  2.34s/it]
  2%|▏         | 53/2700 [04:08<1:17:23,  1.75s/it]
  2%|▏         | 54/2700 [04:09<59:08,  1.34s/it]  
  2%|▏         | 55/2700 [04:09<46:14,  1.05s/it]
  2%|▏         | 56/2700 [04:10<37:21,  1.18it/s]
  2%|▏         | 57/2700 [04:20<2:44:59,  3.75s/it]
  2%|▏         | 58/2700 [04:20<2:00:26,  2.74s/it]
  2%|▏         | 59/2700 [04:21<1:29:03,  2.02s/it]
  2%|▏         | 60/2700 [04:21<1:06:57,  1.52s/it]
  2%|▏         | 61/2700 [04:21<51:26,  1.17s/it]  
  2%|▏         | 62/2700 [04:22<40:28,  1.09it/s]
  2%|▏         | 63/2700 [04:22<32:46,  1.34it/s]
  2%|▏         | 64/2700 [04:22<27:29,  1.60it/s]
  2%|▏         | 65/2700 [04:45<5:21:40,  7.32s/it]
  2%|▏         | 66/2700 [04:46<3:49:54,  5.24s/it]
  2%|▏         | 67/2700 [04:46<2:45:40,  3.78s/it]
  3%|▎         | 68/2700 [04:47<2:00:45,  2.75s/it]
  3%|▎         | 69/2700 [04:47<1:29:23,  2.04s/it]
  3%|▎         | 70/2700 [04:47<1:07:17,  1.54s/it]
  3%|▎         | 71/2700 [04:48<51:48,  1.18s/it]  
  3%|▎         | 72/2700 [04:48<40:48,  1.07it/s]
  3%|▎         | 73/2700 [05:28<9:09:21, 12.55s/it]
  3%|▎         | 74/2700 [05:28<6:29:01,  8.89s/it]
  3%|▎         | 75/2700 [05:28<4:36:37,  6.32s/it]
  3%|▎         | 76/2700 [05:29<3:18:07,  4.53s/it]
  3%|▎         | 77/2700 [05:29<2:23:21,  3.28s/it]
  3%|▎         | 78/2700 [05:29<1:44:56,  2.40s/it]
  3%|▎         | 79/2700 [05:30<1:17:51,  1.78s/it]
  3%|▎         | 80/2700 [05:30<59:07,  1.35s/it]  
  3%|▎         | 81/2700 [06:07<8:49:21, 12.13s/it]
  3%|▎         | 82/2700 [06:08<6:14:48,  8.59s/it]
  3%|▎         | 83/2700 [06:08<4:26:42,  6.12s/it]
  3%|▎         | 84/2700 [06:08<3:10:56,  4.38s/it]
  3%|▎         | 85/2700 [06:09<2:17:57,  3.17s/it]
  3%|▎         | 86/2700 [06:09<1:40:55,  2.32s/it]
  3%|▎         | 87/2700 [06:09<1:14:57,  1.72s/it]
  3%|▎         | 88/2700 [06:10<56:47,  1.30s/it]  
  3%|▎         | 89/2700 [06:21<3:04:44,  4.25s/it]
  3%|▎         | 90/2700 [06:21<2:13:40,  3.07s/it]
  3%|▎         | 91/2700 [06:21<1:37:53,  2.25s/it]
  3%|▎         | 92/2700 [06:22<1:12:47,  1.67s/it]
  3%|▎         | 93/2700 [06:22<55:19,  1.27s/it]  
  3%|▎         | 94/2700 [06:22<42:56,  1.01it/s]
  4%|▎         | 95/2700 [06:23<34:25,  1.26it/s]
  4%|▎         | 96/2700 [06:23<28:28,  1.52it/s]
  4%|▎         | 97/2700 [06:40<4:03:53,  5.62s/it]
  4%|▎         | 98/2700 [06:41<2:55:23,  4.04s/it]
  4%|▎         | 99/2700 [06:41<2:07:04,  2.93s/it]
  4%|▎         | 100/2700 [06:41<1:33:13,  2.15s/it]
  4%|▎         | 101/2700 [06:42<1:09:36,  1.61s/it]
  4%|▍         | 102/2700 [06:42<52:57,  1.22s/it]  
  4%|▍         | 103/2700 [06:42<41:25,  1.04it/s]
  4%|▍         | 104/2700 [06:43<33:18,  1.30it/s]
  4%|▍         | 105/2700 [07:02<4:29:08,  6.22s/it]
  4%|▍         | 106/2700 [07:02<3:13:03,  4.47s/it]
  4%|▍         | 107/2700 [07:02<2:19:44,  3.23s/it]
  4%|▍         | 108/2700 [07:03<1:42:17,  2.37s/it]
  4%|▍         | 109/2700 [07:03<1:16:16,  1.77s/it]
  4%|▍         | 110/2700 [07:03<58:11,  1.35s/it]  
  4%|▍         | 111/2700 [07:04<45:21,  1.05s/it]
  4%|▍         | 112/2700 [07:04<36:40,  1.18it/s]
  4%|▍         | 113/2700 [07:16<3:02:21,  4.23s/it]
  4%|▍         | 114/2700 [07:17<2:12:18,  3.07s/it]
  4%|▍         | 115/2700 [07:17<1:37:20,  2.26s/it]
  4%|▍         | 116/2700 [07:17<1:12:54,  1.69s/it]
  4%|▍         | 117/2700 [07:18<55:56,  1.30s/it]  
  4%|▍         | 118/2700 [07:18<43:53,  1.02s/it]
  4%|▍         | 119/2700 [07:19<35:32,  1.21it/s]
  4%|▍         | 120/2700 [07:19<29:35,  1.45it/s]
  4%|▍         | 121/2700 [07:48<6:41:12,  9.33s/it]
  5%|▍         | 122/2700 [07:49<4:45:32,  6.65s/it]
  5%|▍         | 123/2700 [07:49<3:24:34,  4.76s/it]
  5%|▍         | 124/2700 [07:50<2:28:00,  3.45s/it]
  5%|▍         | 125/2700 [07:50<1:48:21,  2.52s/it]
  5%|▍         | 126/2700 [07:50<1:20:31,  1.88s/it]
  5%|▍         | 127/2700 [07:51<1:01:02,  1.42s/it]
  5%|▍         | 128/2700 [07:51<47:36,  1.11s/it]  
  5%|▍         | 129/2700 [08:07<3:57:53,  5.55s/it]
  5%|▍         | 130/2700 [08:07<2:51:27,  4.00s/it]
  5%|▍         | 131/2700 [08:08<2:04:48,  2.92s/it]
  5%|▍         | 132/2700 [08:08<1:32:24,  2.16s/it]
  5%|▍         | 133/2700 [08:08<1:09:23,  1.62s/it]
  5%|▍         | 134/2700 [08:09<53:46,  1.26s/it]  
  5%|▌         | 135/2700 [08:09<42:40,  1.00it/s]
  5%|▌         | 136/2700 [08:10<34:29,  1.24it/s]
  5%|▌         | 137/2700 [08:40<6:50:46,  9.62s/it]
  5%|▌         | 138/2700 [08:40<4:52:15,  6.84s/it]
  5%|▌         | 139/2700 [08:41<3:29:36,  4.91s/it]
  5%|▌         | 140/2700 [08:41<2:31:30,  3.55s/it]
  5%|▌         | 141/2700 [08:41<1:50:42,  2.60s/it]
  5%|▌         | 142/2700 [08:42<1:22:07,  1.93s/it]
  5%|▌         | 143/2700 [08:42<1:02:14,  1.46s/it]
  5%|▌         | 144/2700 [08:42<48:17,  1.13s/it]  
  5%|▌         | 145/2700 [09:00<4:22:41,  6.17s/it]
  5%|▌         | 146/2700 [09:01<3:08:12,  4.42s/it]
  5%|▌         | 147/2700 [09:01<2:15:56,  3.20s/it]
  5%|▌         | 148/2700 [09:01<1:39:30,  2.34s/it]
  6%|▌         | 149/2700 [09:02<1:14:18,  1.75s/it]
  6%|▌         | 150/2700 [09:02<56:34,  1.33s/it]  
  6%|▌         | 151/2700 [09:02<44:01,  1.04s/it]
  6%|▌         | 152/2700 [09:03<35:11,  1.21it/s]
  6%|▌         | 153/2700 [09:26<5:22:43,  7.60s/it]
  6%|▌         | 154/2700 [09:27<3:50:15,  5.43s/it]
  6%|▌         | 155/2700 [09:27<2:45:29,  3.90s/it]
  6%|▌         | 156/2700 [09:27<2:00:12,  2.84s/it]
  6%|▌         | 157/2700 [09:28<1:28:32,  2.09s/it]
  6%|▌         | 158/2700 [09:28<1:06:21,  1.57s/it]
  6%|▌         | 159/2700 [09:28<50:50,  1.20s/it]  
  6%|▌         | 160/2700 [09:29<39:59,  1.06it/s]
  6%|▌         | 161/2700 [09:54<5:51:31,  8.31s/it]
  6%|▌         | 162/2700 [09:54<4:10:39,  5.93s/it]
  6%|▌         | 163/2700 [09:55<2:59:52,  4.25s/it]
  6%|▌         | 164/2700 [09:55<2:10:16,  3.08s/it]
  6%|▌         | 165/2700 [09:56<1:35:28,  2.26s/it]
  6%|▌         | 166/2700 [09:56<1:11:11,  1.69s/it]
  6%|▌         | 167/2700 [09:56<54:22,  1.29s/it]  
  6%|▌         | 168/2700 [09:57<42:28,  1.01s/it]
  6%|▋         | 169/2700 [10:12<3:41:09,  5.24s/it]
  6%|▋         | 170/2700 [10:12<2:39:09,  3.77s/it]
  6%|▋         | 171/2700 [10:12<1:55:47,  2.75s/it]
  6%|▋         | 172/2700 [10:13<1:25:27,  2.03s/it]
  6%|▋         | 173/2700 [10:13<1:04:07,  1.52s/it]
  6%|▋         | 174/2700 [10:13<49:26,  1.17s/it]  
  6%|▋         | 175/2700 [10:14<39:05,  1.08it/s]
  7%|▋         | 176/2700 [10:14<31:44,  1.33it/s]
  7%|▋         | 177/2700 [10:45<6:45:26,  9.64s/it]
  7%|▋         | 178/2700 [10:45<4:48:51,  6.87s/it]
  7%|▋         | 179/2700 [10:45<3:26:28,  4.91s/it]
  7%|▋         | 180/2700 [10:46<2:28:48,  3.54s/it]
  7%|▋         | 181/2700 [10:46<1:48:42,  2.59s/it]
  7%|▋         | 182/2700 [10:46<1:20:25,  1.92s/it]
  7%|▋         | 183/2700 [10:47<1:00:41,  1.45s/it]
  7%|▋         | 184/2700 [10:47<46:53,  1.12s/it]  
  7%|▋         | 185/2700 [11:13<5:57:50,  8.54s/it]
  7%|▋         | 186/2700 [11:13<4:14:48,  6.08s/it]
  7%|▋         | 187/2700 [11:14<3:02:38,  4.36s/it]
  7%|▋         | 188/2700 [11:14<2:12:15,  3.16s/it]
  7%|▋         | 189/2700 [11:14<1:37:12,  2.32s/it]
  7%|▋         | 190/2700 [11:15<1:12:45,  1.74s/it]
  7%|▋         | 191/2700 [11:15<55:57,  1.34s/it]  
  7%|▋         | 192/2700 [11:15<43:57,  1.05s/it]
  7%|▋         | 193/2700 [11:33<4:04:45,  5.86s/it]
  7%|▋         | 194/2700 [11:33<2:55:57,  4.21s/it]
  7%|▋         | 195/2700 [11:33<2:07:53,  3.06s/it]
  7%|▋         | 196/2700 [11:34<1:34:12,  2.26s/it]
  7%|▋         | 197/2700 [11:34<1:10:38,  1.69s/it]
  7%|▋         | 198/2700 [11:34<54:12,  1.30s/it]  
  7%|▋         | 199/2700 [11:35<42:37,  1.02s/it]
  7%|▋         | 200/2700 [11:35<34:30,  1.21it/s]
  7%|▋         | 201/2700 [12:05<6:34:26,  9.47s/it]
  7%|▋         | 202/2700 [12:05<4:40:44,  6.74s/it]
  8%|▊         | 203/2700 [12:06<3:21:07,  4.83s/it]
  8%|▊         | 204/2700 [12:06<2:25:21,  3.49s/it]
  8%|▊         | 205/2700 [12:06<1:46:13,  2.55s/it]
  8%|▊         | 206/2700 [12:07<1:18:59,  1.90s/it]
  8%|▊         | 207/2700 [12:07<59:50,  1.44s/it]  
  8%|▊         | 208/2700 [12:07<46:27,  1.12s/it]
  8%|▊         | 209/2700 [12:25<4:16:47,  6.19s/it]
  8%|▊         | 210/2700 [12:26<3:04:19,  4.44s/it]
  8%|▊         | 211/2700 [12:26<2:13:30,  3.22s/it]
  8%|▊         | 212/2700 [12:27<1:37:54,  2.36s/it]
  8%|▊         | 213/2700 [12:27<1:13:12,  1.77s/it]
  8%|▊         | 214/2700 [12:27<55:51,  1.35s/it]  
  8%|▊         | 215/2700 [12:28<43:50,  1.06s/it]
  8%|▊         | 216/2700 [12:28<35:21,  1.17it/s]
  8%|▊         | 217/2700 [12:45<3:57:45,  5.75s/it]
  8%|▊         | 218/2700 [12:46<2:50:58,  4.13s/it]
  8%|▊         | 219/2700 [12:46<2:04:15,  3.00s/it]
  8%|▊         | 220/2700 [12:46<1:31:45,  2.22s/it]
  8%|▊         | 221/2700 [12:47<1:09:06,  1.67s/it]
  8%|▊         | 222/2700 [12:47<53:17,  1.29s/it]  
  8%|▊         | 223/2700 [12:47<41:56,  1.02s/it]
  8%|▊         | 224/2700 [12:48<34:01,  1.21it/s]
  8%|▊         | 225/2700 [13:01<3:12:11,  4.66s/it]
  8%|▊         | 226/2700 [13:02<2:19:03,  3.37s/it]
  8%|▊         | 227/2700 [13:02<1:41:52,  2.47s/it]
  8%|▊         | 228/2700 [13:03<1:15:39,  1.84s/it]
  8%|▊         | 229/2700 [13:03<57:28,  1.40s/it]  
  9%|▊         | 230/2700 [13:03<44:46,  1.09s/it]
  9%|▊         | 231/2700 [13:04<36:01,  1.14it/s]
  9%|▊         | 232/2700 [13:04<29:49,  1.38it/s]
  9%|▊         | 233/2700 [13:19<3:22:36,  4.93s/it]
  9%|▊         | 234/2700 [13:19<2:25:58,  3.55s/it]
  9%|▊         | 235/2700 [13:19<1:46:21,  2.59s/it]
  9%|▊         | 236/2700 [13:20<1:18:37,  1.91s/it]
  9%|▉         | 237/2700 [13:20<59:16,  1.44s/it]  
  9%|▉         | 238/2700 [13:21<45:45,  1.12s/it]
  9%|▉         | 239/2700 [13:21<36:16,  1.13it/s]
  9%|▉         | 240/2700 [13:21<29:35,  1.39it/s]
  9%|▉         | 241/2700 [13:42<4:39:34,  6.82s/it]
  9%|▉         | 242/2700 [13:43<3:19:50,  4.88s/it]
  9%|▉         | 243/2700 [13:43<2:24:10,  3.52s/it]
  9%|▉         | 244/2700 [13:43<1:45:03,  2.57s/it]
  9%|▉         | 245/2700 [13:44<1:17:47,  1.90s/it]
  9%|▉         | 246/2700 [13:44<58:41,  1.44s/it]  
  9%|▉         | 247/2700 [13:44<45:18,  1.11s/it]
  9%|▉         | 248/2700 [13:45<35:54,  1.14it/s]
  9%|▉         | 249/2700 [14:18<7:10:43, 10.54s/it]
  9%|▉         | 250/2700 [14:18<5:05:43,  7.49s/it]
  9%|▉         | 251/2700 [14:18<3:38:20,  5.35s/it]
  9%|▉         | 252/2700 [14:19<2:37:09,  3.85s/it]
  9%|▉         | 253/2700 [14:19<1:54:20,  2.80s/it]
  9%|▉         | 254/2700 [14:20<1:24:25,  2.07s/it]
  9%|▉         | 255/2700 [14:20<1:03:39,  1.56s/it]
  9%|▉         | 256/2700 [14:20<49:01,  1.20s/it]  
 10%|▉         | 257/2700 [14:41<4:41:44,  6.92s/it]
 10%|▉         | 258/2700 [14:41<3:21:20,  4.95s/it]
 10%|▉         | 259/2700 [14:41<2:25:01,  3.56s/it]
 10%|▉         | 260/2700 [14:42<1:45:46,  2.60s/it]
 10%|▉         | 261/2700 [14:42<1:18:13,  1.92s/it]
 10%|▉         | 262/2700 [14:42<59:38,  1.47s/it]  
 10%|▉         | 263/2700 [14:43<46:15,  1.14s/it]
 10%|▉         | 264/2700 [14:43<36:44,  1.11it/s]
 10%|▉         | 265/2700 [15:53<14:37:25, 21.62s/it]
 10%|▉         | 266/2700 [15:53<10:18:18, 15.24s/it]
 10%|▉         | 267/2700 [15:54<7:17:06, 10.78s/it] 
 10%|▉         | 268/2700 [15:54<5:10:11,  7.65s/it]
 10%|▉         | 269/2700 [15:54<3:41:25,  5.47s/it]
 10%|█         | 270/2700 [15:55<2:39:15,  3.93s/it]
 10%|█         | 271/2700 [15:55<1:55:41,  2.86s/it]
 10%|█         | 272/2700 [15:56<1:25:16,  2.11s/it]
 10%|█         | 273/2700 [16:17<5:24:33,  8.02s/it]
 10%|█         | 274/2700 [16:18<3:51:34,  5.73s/it]
 10%|█         | 275/2700 [16:18<2:46:27,  4.12s/it]
 10%|█         | 276/2700 [16:18<2:00:53,  2.99s/it]
 10%|█         | 277/2700 [16:19<1:29:00,  2.20s/it]
 10%|█         | 278/2700 [16:19<1:06:34,  1.65s/it]
 10%|█         | 279/2700 [16:20<50:57,  1.26s/it]  
 10%|█         | 280/2700 [16:20<40:02,  1.01it/s]
 10%|█         | 281/2700 [16:54<7:16:54, 10.84s/it]
 10%|█         | 282/2700 [16:54<5:09:59,  7.69s/it]
 10%|█         | 283/2700 [16:54<3:41:04,  5.49s/it]
 11%|█         | 284/2700 [16:55<2:38:49,  3.94s/it]
 11%|█         | 285/2700 [16:55<1:55:13,  2.86s/it]
 11%|█         | 286/2700 [16:55<1:24:52,  2.11s/it]
 11%|█         | 287/2700 [16:56<1:03:33,  1.58s/it]
 11%|█         | 288/2700 [16:56<48:37,  1.21s/it]  
 11%|█         | 289/2700 [17:12<3:49:42,  5.72s/it]
 11%|█         | 290/2700 [17:13<2:44:50,  4.10s/it]
 11%|█         | 291/2700 [17:13<1:59:29,  2.98s/it]
 11%|█         | 292/2700 [17:13<1:27:49,  2.19s/it]
 11%|█         | 293/2700 [17:14<1:05:47,  1.64s/it]
 11%|█         | 294/2700 [17:14<50:24,  1.26s/it]  
 11%|█         | 295/2700 [17:14<39:27,  1.02it/s]
 11%|█         | 296/2700 [17:15<31:47,  1.26it/s]
 11%|█         | 297/2700 [17:37<4:43:46,  7.09s/it]
 11%|█         | 298/2700 [17:37<3:23:06,  5.07s/it]
 11%|█         | 299/2700 [17:37<2:26:22,  3.66s/it]
 11%|█         | 300/2700 [17:38<1:46:39,  2.67s/it]
 11%|█         | 301/2700 [17:38<1:18:48,  1.97s/it]
 11%|█         | 302/2700 [17:38<59:27,  1.49s/it]  
 11%|█         | 303/2700 [17:39<45:58,  1.15s/it]
 11%|█▏        | 304/2700 [17:39<36:30,  1.09it/s]
 11%|█▏        | 305/2700 [17:56<3:46:52,  5.68s/it]
 11%|█▏        | 306/2700 [17:56<2:43:26,  4.10s/it]
 11%|█▏        | 307/2700 [17:57<1:58:42,  2.98s/it]
 11%|█▏        | 308/2700 [17:57<1:27:22,  2.19s/it]
 11%|█▏        | 309/2700 [17:57<1:05:30,  1.64s/it]
 11%|█▏        | 310/2700 [17:58<50:12,  1.26s/it]  
 12%|█▏        | 311/2700 [17:58<39:31,  1.01it/s]
 12%|█▏        | 312/2700 [17:59<32:10,  1.24it/s]
 12%|█▏        | 313/2700 [18:25<5:36:45,  8.46s/it]
 12%|█▏        | 314/2700 [18:25<4:00:07,  6.04s/it]
 12%|█▏        | 315/2700 [18:26<2:52:34,  4.34s/it]
 12%|█▏        | 316/2700 [18:26<2:05:12,  3.15s/it]
 12%|█▏        | 317/2700 [18:26<1:31:56,  2.31s/it]
 12%|█▏        | 318/2700 [18:27<1:08:38,  1.73s/it]
 12%|█▏        | 319/2700 [18:27<52:32,  1.32s/it]  
 12%|█▏        | 320/2700 [18:27<41:05,  1.04s/it]
 12%|█▏        | 321/2700 [18:48<4:37:36,  7.00s/it]
 12%|█▏        | 322/2700 [18:49<3:18:36,  5.01s/it]
 12%|█▏        | 323/2700 [18:49<2:23:17,  3.62s/it]
 12%|█▏        | 324/2700 [18:49<1:44:35,  2.64s/it]
 12%|█▏        | 325/2700 [18:50<1:17:27,  1.96s/it]
 12%|█▏        | 326/2700 [18:50<58:34,  1.48s/it]  
 12%|█▏        | 327/2700 [18:51<45:17,  1.15s/it]
 12%|█▏        | 328/2700 [18:51<36:18,  1.09it/s]
 12%|█▏        | 329/2700 [19:12<4:37:19,  7.02s/it]
 12%|█▏        | 330/2700 [19:13<3:18:29,  5.02s/it]
 12%|█▏        | 331/2700 [19:13<2:23:19,  3.63s/it]
 12%|█▏        | 332/2700 [19:13<1:44:42,  2.65s/it]
 12%|█▏        | 333/2700 [19:14<1:17:38,  1.97s/it]
 12%|█▏        | 334/2700 [19:14<58:44,  1.49s/it]  
 12%|█▏        | 335/2700 [19:14<45:28,  1.15s/it]
 12%|█▏        | 336/2700 [19:15<36:15,  1.09it/s]
 12%|█▏        | 337/2700 [19:33<4:02:23,  6.15s/it]
 13%|█▎        | 338/2700 [19:34<2:54:11,  4.42s/it]
 13%|█▎        | 339/2700 [19:34<2:06:21,  3.21s/it]
 13%|█▎        | 340/2700 [19:34<1:32:47,  2.36s/it]
 13%|█▎        | 341/2700 [19:35<1:09:17,  1.76s/it]
 13%|█▎        | 342/2700 [19:35<52:48,  1.34s/it]  
 13%|█▎        | 343/2700 [19:35<41:16,  1.05s/it]
 13%|█▎        | 344/2700 [19:36<33:09,  1.18it/s]
 13%|█▎        | 344/2700 [19:55<2:16:27,  3.48s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json.
+PlasticBottlesInSquarePailTask_0 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_0, run: 0, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: True, episode_step: 345, duration: 23.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.649096001000942, 'joint_sparc_mean': -8.8591636262701, 'ee_isj': 3537.641218252972, 'joint_isj': 72871.2321839709, 'ee_path_length': 4.180970890375399, 'joint_rmse_mean': 0.9941684176722199, 'ee_speed_max': 0.6286436319351196, 'ee_speed_mean': 0.17225709557533264}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 5, 'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 1080.397, 'policy_inference_avg_ms': 3131.6, 'env_step_s': 111.838, 'env_step_avg_ms': 324.2, 'video_write_s': 3.055, 'video_write_avg_ms': 8.9, 'wall_total_s': 1195.29, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b6a2274e7b8d4af587103e96419217b9-0
+[RoboLab] Running PlasticBottlesInSquarePailTask_1: 'Put all the small plastic bottles in the square pail' (run 1, 1 envs)
+
  0%|          | 0/2700 [00:00<?, ?it/s]
  0%|          | 1/2700 [00:48<36:35:15, 48.80s/it]
  0%|          | 2/2700 [00:49<15:13:09, 20.31s/it]
  0%|          | 3/2700 [00:49<8:23:15, 11.20s/it] 
  0%|          | 4/2700 [00:49<5:10:36,  6.91s/it]
  0%|          | 5/2700 [00:50<3:24:02,  4.54s/it]
  0%|          | 6/2700 [00:50<2:19:44,  3.11s/it]
  0%|          | 7/2700 [00:50<1:38:59,  2.21s/it]
  0%|          | 8/2700 [00:51<1:12:15,  1.61s/it]
  0%|          | 9/2700 [01:16<6:37:28,  8.86s/it]
  0%|          | 10/2700 [01:16<4:39:10,  6.23s/it]
  0%|          | 11/2700 [01:16<3:18:11,  4.42s/it]
  0%|          | 12/2700 [01:17<2:22:22,  3.18s/it]
  0%|          | 13/2700 [01:17<1:43:46,  2.32s/it]
  1%|          | 14/2700 [01:17<1:17:01,  1.72s/it]
  1%|          | 15/2700 [01:18<58:18,  1.30s/it]  
  1%|          | 16/2700 [01:18<45:11,  1.01s/it]
  1%|          | 17/2700 [01:46<6:55:30,  9.29s/it]
  1%|          | 18/2700 [01:47<4:55:04,  6.60s/it]
  1%|          | 19/2700 [01:47<3:30:47,  4.72s/it]
  1%|          | 20/2700 [01:47<2:32:12,  3.41s/it]
  1%|          | 21/2700 [01:48<1:51:20,  2.49s/it]
  1%|          | 22/2700 [01:48<1:22:41,  1.85s/it]
  1%|          | 23/2700 [01:49<1:02:46,  1.41s/it]
  1%|          | 24/2700 [01:49<48:45,  1.09s/it]  
  1%|          | 25/2700 [02:01<3:22:54,  4.55s/it]
  1%|          | 26/2700 [02:02<2:26:55,  3.30s/it]
  1%|          | 27/2700 [02:02<1:47:30,  2.41s/it]
  1%|          | 28/2700 [02:03<1:20:01,  1.80s/it]
  1%|          | 29/2700 [02:03<1:00:46,  1.37s/it]
  1%|          | 30/2700 [02:03<47:14,  1.06s/it]  
  1%|          | 31/2700 [02:04<37:48,  1.18it/s]
  1%|          | 32/2700 [02:04<31:04,  1.43it/s]
  1%|          | 33/2700 [03:36<20:50:57, 28.14s/it]
  1%|▏         | 34/2700 [03:37<14:39:52, 19.80s/it]
  1%|▏         | 35/2700 [03:37<10:20:20, 13.97s/it]
  1%|▏         | 36/2700 [03:37<7:18:43,  9.88s/it] 
  1%|▏         | 37/2700 [03:38<5:11:35,  7.02s/it]
  1%|▏         | 38/2700 [03:38<3:42:49,  5.02s/it]
  1%|▏         | 39/2700 [03:38<2:40:37,  3.62s/it]
  1%|▏         | 40/2700 [03:39<1:57:02,  2.64s/it]
  2%|▏         | 41/2700 [03:50<3:58:39,  5.39s/it]
  2%|▏         | 42/2700 [03:51<2:51:50,  3.88s/it]
  2%|▏         | 43/2700 [03:51<2:04:43,  2.82s/it]
  2%|▏         | 44/2700 [03:51<1:31:49,  2.07s/it]
  2%|▏         | 45/2700 [03:52<1:08:50,  1.56s/it]
  2%|▏         | 46/2700 [03:52<52:39,  1.19s/it]  
  2%|▏         | 47/2700 [03:52<41:19,  1.07it/s]
  2%|▏         | 48/2700 [03:53<33:22,  1.32it/s]
  2%|▏         | 49/2700 [04:03<2:41:01,  3.64s/it]
  2%|▏         | 50/2700 [04:04<1:57:28,  2.66s/it]
  2%|▏         | 51/2700 [04:04<1:27:04,  1.97s/it]
  2%|▏         | 52/2700 [04:04<1:05:38,  1.49s/it]
  2%|▏         | 53/2700 [04:05<50:33,  1.15s/it]  
  2%|▏         | 54/2700 [04:05<39:54,  1.10it/s]
  2%|▏         | 55/2700 [04:05<32:24,  1.36it/s]
  2%|▏         | 56/2700 [04:06<27:11,  1.62it/s]
  2%|▏         | 57/2700 [04:31<5:53:09,  8.02s/it]
  2%|▏         | 58/2700 [04:31<4:11:42,  5.72s/it]
  2%|▏         | 59/2700 [04:32<3:00:40,  4.10s/it]
  2%|▏         | 60/2700 [04:32<2:10:55,  2.98s/it]
  2%|▏         | 61/2700 [04:32<1:36:06,  2.18s/it]
  2%|▏         | 62/2700 [04:33<1:11:55,  1.64s/it]
  2%|▏         | 63/2700 [04:33<54:54,  1.25s/it]  
  2%|▏         | 64/2700 [04:33<43:13,  1.02it/s]
  2%|▏         | 65/2700 [04:44<2:48:42,  3.84s/it]
  2%|▏         | 66/2700 [04:44<2:02:40,  2.79s/it]
  2%|▏         | 67/2700 [04:45<1:30:28,  2.06s/it]
  3%|▎         | 68/2700 [04:45<1:07:57,  1.55s/it]
  3%|▎         | 69/2700 [04:45<52:09,  1.19s/it]  
  3%|▎         | 70/2700 [04:46<41:18,  1.06it/s]
  3%|▎         | 71/2700 [04:46<33:21,  1.31it/s]
  3%|▎         | 72/2700 [04:46<27:56,  1.57it/s]
  3%|▎         | 73/2700 [05:10<5:34:16,  7.63s/it]
  3%|▎         | 74/2700 [05:11<3:58:23,  5.45s/it]
  3%|▎         | 75/2700 [05:11<2:51:18,  3.92s/it]
  3%|▎         | 76/2700 [05:11<2:04:21,  2.84s/it]
  3%|▎         | 77/2700 [05:12<1:31:30,  2.09s/it]
  3%|▎         | 78/2700 [05:12<1:08:28,  1.57s/it]
  3%|▎         | 79/2700 [05:12<52:24,  1.20s/it]  
  3%|▎         | 80/2700 [05:13<41:11,  1.06it/s]
  3%|▎         | 81/2700 [05:31<4:24:02,  6.05s/it]
  3%|▎         | 82/2700 [05:31<3:09:13,  4.34s/it]
  3%|▎         | 83/2700 [05:31<2:16:54,  3.14s/it]
  3%|▎         | 84/2700 [05:32<1:40:15,  2.30s/it]
  3%|▎         | 85/2700 [05:32<1:14:41,  1.71s/it]
  3%|▎         | 86/2700 [05:32<56:54,  1.31s/it]  
  3%|▎         | 87/2700 [05:33<44:21,  1.02s/it]
  3%|▎         | 88/2700 [05:33<35:29,  1.23it/s]
  3%|▎         | 89/2700 [05:47<3:31:50,  4.87s/it]
  3%|▎         | 90/2700 [05:48<2:32:46,  3.51s/it]
  3%|▎         | 91/2700 [05:48<1:51:20,  2.56s/it]
  3%|▎         | 92/2700 [05:48<1:22:22,  1.90s/it]
  3%|▎         | 93/2700 [05:49<1:02:04,  1.43s/it]
  3%|▎         | 94/2700 [05:49<47:49,  1.10s/it]  
  4%|▎         | 95/2700 [05:49<37:51,  1.15it/s]
  4%|▎         | 96/2700 [05:50<30:56,  1.40it/s]
  4%|▎         | 97/2700 [06:03<3:10:50,  4.40s/it]
  4%|▎         | 98/2700 [06:03<2:18:24,  3.19s/it]
  4%|▎         | 99/2700 [06:04<1:41:36,  2.34s/it]
  4%|▎         | 100/2700 [06:04<1:15:55,  1.75s/it]
  4%|▎         | 101/2700 [06:04<57:46,  1.33s/it]  
  4%|▍         | 102/2700 [06:05<45:00,  1.04s/it]
  4%|▍         | 103/2700 [06:05<36:05,  1.20it/s]
  4%|▍         | 104/2700 [06:05<29:50,  1.45it/s]
  4%|▍         | 105/2700 [06:20<3:36:59,  5.02s/it]
  4%|▍         | 106/2700 [06:21<2:36:50,  3.63s/it]
  4%|▍         | 107/2700 [06:21<1:54:45,  2.66s/it]
  4%|▍         | 108/2700 [06:22<1:25:07,  1.97s/it]
  4%|▍         | 109/2700 [06:22<1:04:33,  1.50s/it]
  4%|▍         | 110/2700 [06:22<50:05,  1.16s/it]  
  4%|▍         | 111/2700 [06:23<39:59,  1.08it/s]
  4%|▍         | 112/2700 [06:23<32:46,  1.32it/s]
  4%|▍         | 113/2700 [06:46<5:17:23,  7.36s/it]
  4%|▍         | 114/2700 [06:46<3:46:49,  5.26s/it]
  4%|▍         | 115/2700 [06:47<2:43:28,  3.79s/it]
  4%|▍         | 116/2700 [06:47<1:59:06,  2.77s/it]
  4%|▍         | 117/2700 [06:47<1:27:59,  2.04s/it]
  4%|▍         | 118/2700 [06:48<1:06:14,  1.54s/it]
  4%|▍         | 119/2700 [06:48<51:11,  1.19s/it]  
  4%|▍         | 120/2700 [06:48<40:38,  1.06it/s]
  4%|▍         | 121/2700 [07:12<5:31:52,  7.72s/it]
  5%|▍         | 122/2700 [07:12<3:57:13,  5.52s/it]
  5%|▍         | 123/2700 [07:13<2:50:53,  3.98s/it]
  5%|▍         | 124/2700 [07:13<2:04:26,  2.90s/it]
  5%|▍         | 125/2700 [07:13<1:31:54,  2.14s/it]
  5%|▍         | 126/2700 [07:14<1:09:06,  1.61s/it]
  5%|▍         | 127/2700 [07:14<53:10,  1.24s/it]  
  5%|▍         | 128/2700 [07:15<42:03,  1.02it/s]
  5%|▍         | 129/2700 [07:34<4:43:35,  6.62s/it]
  5%|▍         | 130/2700 [07:35<3:23:06,  4.74s/it]
  5%|▍         | 131/2700 [07:35<2:26:59,  3.43s/it]
  5%|▍         | 132/2700 [07:36<1:47:53,  2.52s/it]
  5%|▍         | 133/2700 [07:36<1:20:33,  1.88s/it]
  5%|▍         | 134/2700 [07:36<1:01:12,  1.43s/it]
  5%|▌         | 135/2700 [07:37<47:35,  1.11s/it]  
  5%|▌         | 136/2700 [07:37<38:07,  1.12it/s]
  5%|▌         | 137/2700 [08:01<5:27:26,  7.67s/it]
  5%|▌         | 138/2700 [08:01<3:53:59,  5.48s/it]
  5%|▌         | 139/2700 [08:01<2:48:30,  3.95s/it]
  5%|▌         | 140/2700 [08:02<2:02:37,  2.87s/it]
  5%|▌         | 141/2700 [08:02<1:30:27,  2.12s/it]
  5%|▌         | 142/2700 [08:02<1:08:08,  1.60s/it]
  5%|▌         | 143/2700 [08:03<52:49,  1.24s/it]  
  5%|▌         | 144/2700 [08:03<41:48,  1.02it/s]
  5%|▌         | 145/2700 [08:17<3:20:01,  4.70s/it]
  5%|▌         | 146/2700 [08:17<2:24:27,  3.39s/it]
  5%|▌         | 147/2700 [08:17<1:45:38,  2.48s/it]
  5%|▌         | 148/2700 [08:18<1:18:30,  1.85s/it]
  6%|▌         | 149/2700 [08:18<59:24,  1.40s/it]  
  6%|▌         | 150/2700 [08:18<46:12,  1.09s/it]
  6%|▌         | 151/2700 [08:19<36:50,  1.15it/s]
  6%|▌         | 152/2700 [08:19<30:20,  1.40it/s]
  6%|▌         | 153/2700 [08:45<5:53:18,  8.32s/it]
  6%|▌         | 154/2700 [08:45<4:11:38,  5.93s/it]
  6%|▌         | 155/2700 [08:46<3:00:57,  4.27s/it]
  6%|▌         | 156/2700 [08:46<2:11:00,  3.09s/it]
  6%|▌         | 157/2700 [08:47<1:36:02,  2.27s/it]
  6%|▌         | 158/2700 [08:47<1:11:41,  1.69s/it]
  6%|▌         | 159/2700 [08:47<54:37,  1.29s/it]  
  6%|▌         | 160/2700 [08:48<42:40,  1.01s/it]
  6%|▌         | 161/2700 [09:07<4:42:17,  6.67s/it]
  6%|▌         | 162/2700 [09:08<3:22:05,  4.78s/it]
  6%|▌         | 163/2700 [09:08<2:25:53,  3.45s/it]
  6%|▌         | 164/2700 [09:09<1:46:31,  2.52s/it]
  6%|▌         | 165/2700 [09:09<1:18:54,  1.87s/it]
  6%|▌         | 166/2700 [09:09<59:35,  1.41s/it]  
  6%|▌         | 167/2700 [09:10<46:06,  1.09s/it]
  6%|▌         | 168/2700 [09:10<36:37,  1.15it/s]
  6%|▋         | 169/2700 [09:30<4:41:37,  6.68s/it]
  6%|▋         | 170/2700 [09:30<3:21:29,  4.78s/it]
  6%|▋         | 171/2700 [09:31<2:25:30,  3.45s/it]
  6%|▋         | 172/2700 [09:31<1:46:14,  2.52s/it]
  6%|▋         | 173/2700 [09:32<1:18:50,  1.87s/it]
  6%|▋         | 174/2700 [09:32<59:34,  1.42s/it]  
  6%|▋         | 175/2700 [09:32<46:00,  1.09s/it]
  7%|▋         | 176/2700 [09:33<36:36,  1.15it/s]
  7%|▋         | 177/2700 [09:55<5:14:14,  7.47s/it]
  7%|▋         | 178/2700 [09:56<3:44:18,  5.34s/it]
  7%|▋         | 179/2700 [09:56<2:41:22,  3.84s/it]
  7%|▋         | 180/2700 [09:57<1:57:13,  2.79s/it]
  7%|▋         | 181/2700 [09:57<1:26:23,  2.06s/it]
  7%|▋         | 182/2700 [09:57<1:04:44,  1.54s/it]
  7%|▋         | 183/2700 [09:58<49:41,  1.18s/it]  
  7%|▋         | 184/2700 [09:58<39:02,  1.07it/s]
  7%|▋         | 185/2700 [10:16<4:12:20,  6.02s/it]
  7%|▋         | 186/2700 [10:16<3:01:34,  4.33s/it]
  7%|▋         | 187/2700 [10:17<2:11:44,  3.15s/it]
  7%|▋         | 188/2700 [10:17<1:36:54,  2.31s/it]
  7%|▋         | 189/2700 [10:17<1:12:38,  1.74s/it]
  7%|▋         | 190/2700 [10:18<55:49,  1.33s/it]  
  7%|▋         | 191/2700 [10:18<43:48,  1.05s/it]
  7%|▋         | 192/2700 [10:18<35:32,  1.18it/s]
  7%|▋         | 193/2700 [10:33<3:21:13,  4.82s/it]
  7%|▋         | 194/2700 [10:33<2:25:37,  3.49s/it]
  7%|▋         | 195/2700 [10:33<1:46:31,  2.55s/it]
  7%|▋         | 196/2700 [10:34<1:19:11,  1.90s/it]
  7%|▋         | 197/2700 [10:34<1:00:08,  1.44s/it]
  7%|▋         | 198/2700 [10:34<46:39,  1.12s/it]  
  7%|▋         | 199/2700 [10:35<37:20,  1.12it/s]
  7%|▋         | 200/2700 [10:35<30:50,  1.35it/s]
  7%|▋         | 201/2700 [10:52<3:46:01,  5.43s/it]
  7%|▋         | 202/2700 [10:52<2:42:55,  3.91s/it]
  8%|▊         | 203/2700 [10:52<1:58:39,  2.85s/it]
  8%|▊         | 204/2700 [10:53<1:27:55,  2.11s/it]
  8%|▊         | 205/2700 [10:53<1:06:14,  1.59s/it]
  8%|▊         | 206/2700 [10:53<50:54,  1.22s/it]  
  8%|▊         | 207/2700 [10:54<40:14,  1.03it/s]
  8%|▊         | 208/2700 [10:54<32:43,  1.27it/s]
  8%|▊         | 209/2700 [11:09<3:28:17,  5.02s/it]
  8%|▊         | 210/2700 [11:09<2:30:20,  3.62s/it]
  8%|▊         | 211/2700 [11:10<1:50:00,  2.65s/it]
  8%|▊         | 212/2700 [11:10<1:21:56,  1.98s/it]
  8%|▊         | 213/2700 [11:11<1:02:13,  1.50s/it]
  8%|▊         | 214/2700 [11:11<48:14,  1.16s/it]  
  8%|▊         | 215/2700 [11:11<38:29,  1.08it/s]
  8%|▊         | 216/2700 [11:12<31:33,  1.31it/s]
  8%|▊         | 217/2700 [11:30<4:06:12,  5.95s/it]
  8%|▊         | 218/2700 [11:30<2:56:35,  4.27s/it]
  8%|▊         | 219/2700 [11:30<2:07:57,  3.09s/it]
  8%|▊         | 220/2700 [11:31<1:33:48,  2.27s/it]
  8%|▊         | 221/2700 [11:31<1:09:57,  1.69s/it]
  8%|▊         | 222/2700 [11:32<53:26,  1.29s/it]  
  8%|▊         | 223/2700 [11:32<41:43,  1.01s/it]
  8%|▊         | 224/2700 [11:32<33:36,  1.23it/s]
  8%|▊         | 225/2700 [11:56<5:22:37,  7.82s/it]
  8%|▊         | 226/2700 [11:57<3:50:00,  5.58s/it]
  8%|▊         | 227/2700 [11:57<2:45:13,  4.01s/it]
  8%|▊         | 228/2700 [11:57<1:59:50,  2.91s/it]
  8%|▊         | 229/2700 [11:58<1:28:05,  2.14s/it]
  9%|▊         | 230/2700 [11:58<1:05:53,  1.60s/it]
  9%|▊         | 231/2700 [11:58<50:19,  1.22s/it]  
  9%|▊         | 232/2700 [11:59<39:30,  1.04it/s]
  9%|▊         | 233/2700 [12:36<8:02:33, 11.74s/it]
  9%|▊         | 234/2700 [12:36<5:41:57,  8.32s/it]
  9%|▊         | 235/2700 [12:36<4:03:32,  5.93s/it]
  9%|▊         | 236/2700 [12:37<2:54:35,  4.25s/it]
  9%|▉         | 237/2700 [12:37<2:06:20,  3.08s/it]
  9%|▉         | 238/2700 [12:37<1:32:35,  2.26s/it]
  9%|▉         | 239/2700 [12:38<1:09:00,  1.68s/it]
  9%|▉         | 240/2700 [12:38<52:30,  1.28s/it]  
  9%|▉         | 241/2700 [13:01<5:23:32,  7.89s/it]
  9%|▉         | 242/2700 [13:02<3:50:47,  5.63s/it]
  9%|▉         | 243/2700 [13:02<2:45:42,  4.05s/it]
  9%|▉         | 244/2700 [13:02<2:00:09,  2.94s/it]
  9%|▉         | 245/2700 [13:03<1:28:20,  2.16s/it]
  9%|▉         | 246/2700 [13:03<1:06:09,  1.62s/it]
  9%|▉         | 247/2700 [13:04<50:32,  1.24s/it]  
  9%|▉         | 248/2700 [13:04<39:37,  1.03it/s]
  9%|▉         | 249/2700 [13:33<6:24:07,  9.40s/it]
  9%|▉         | 250/2700 [13:33<4:33:10,  6.69s/it]
  9%|▉         | 251/2700 [13:34<3:15:37,  4.79s/it]
  9%|▉         | 252/2700 [13:34<2:21:40,  3.47s/it]
  9%|▉         | 253/2700 [13:34<1:43:59,  2.55s/it]
  9%|▉         | 254/2700 [13:35<1:17:45,  1.91s/it]
  9%|▉         | 255/2700 [13:35<59:10,  1.45s/it]  
  9%|▉         | 256/2700 [13:36<46:09,  1.13s/it]
 10%|▉         | 257/2700 [14:29<11:29:06, 16.92s/it]
 10%|▉         | 258/2700 [14:30<8:06:52, 11.96s/it] 
 10%|▉         | 259/2700 [14:30<5:45:17,  8.49s/it]
 10%|▉         | 260/2700 [14:31<4:06:06,  6.05s/it]
 10%|▉         | 261/2700 [14:31<2:56:42,  4.35s/it]
 10%|▉         | 262/2700 [14:31<2:08:00,  3.15s/it]
 10%|▉         | 263/2700 [14:32<1:33:56,  2.31s/it]
 10%|▉         | 264/2700 [14:32<1:10:11,  1.73s/it]
 10%|▉         | 265/2700 [14:55<5:32:25,  8.19s/it]
 10%|▉         | 266/2700 [14:56<3:57:04,  5.84s/it]
 10%|▉         | 267/2700 [14:56<2:50:22,  4.20s/it]
 10%|▉         | 268/2700 [14:56<2:03:48,  3.05s/it]
 10%|▉         | 269/2700 [14:57<1:31:15,  2.25s/it]
 10%|█         | 270/2700 [14:57<1:08:29,  1.69s/it]
 10%|█         | 271/2700 [14:58<52:24,  1.29s/it]  
 10%|█         | 272/2700 [14:58<41:07,  1.02s/it]
 10%|█         | 273/2700 [15:14<3:45:15,  5.57s/it]
 10%|█         | 274/2700 [15:14<2:42:16,  4.01s/it]
 10%|█         | 275/2700 [15:15<1:58:12,  2.92s/it]
 10%|█         | 276/2700 [15:15<1:27:13,  2.16s/it]
 10%|█         | 277/2700 [15:16<1:05:37,  1.62s/it]
 10%|█         | 278/2700 [15:16<50:35,  1.25s/it]  
 10%|█         | 279/2700 [15:16<40:03,  1.01it/s]
 10%|█         | 280/2700 [15:17<32:44,  1.23it/s]
 10%|█         | 281/2700 [15:55<8:01:06, 11.93s/it]
 10%|█         | 282/2700 [15:55<5:41:13,  8.47s/it]
 10%|█         | 283/2700 [15:55<4:02:59,  6.03s/it]
 11%|█         | 284/2700 [15:56<2:54:10,  4.33s/it]
 11%|█         | 285/2700 [15:56<2:06:05,  3.13s/it]
 11%|█         | 286/2700 [15:56<1:32:23,  2.30s/it]
 11%|█         | 287/2700 [15:57<1:08:51,  1.71s/it]
 11%|█         | 288/2700 [15:57<52:15,  1.30s/it]  
 11%|█         | 289/2700 [16:25<6:18:00,  9.41s/it]
 11%|█         | 290/2700 [16:26<4:28:55,  6.70s/it]
 11%|█         | 291/2700 [16:26<3:12:21,  4.79s/it]
 11%|█         | 292/2700 [16:26<2:18:43,  3.46s/it]
 11%|█         | 293/2700 [16:27<1:41:14,  2.52s/it]
 11%|█         | 294/2700 [16:27<1:15:04,  1.87s/it]
 11%|█         | 295/2700 [16:28<56:39,  1.41s/it]  
 11%|█         | 296/2700 [16:28<43:50,  1.09s/it]
 11%|█         | 297/2700 [16:48<4:37:42,  6.93s/it]
 11%|█         | 298/2700 [16:49<3:18:37,  4.96s/it]
 11%|█         | 299/2700 [16:49<2:23:02,  3.57s/it]
 11%|█         | 300/2700 [16:49<1:44:13,  2.61s/it]
 11%|█         | 301/2700 [16:50<1:17:13,  1.93s/it]
 11%|█         | 302/2700 [16:50<58:23,  1.46s/it]  
 11%|█         | 303/2700 [16:51<45:05,  1.13s/it]
 11%|█▏        | 304/2700 [16:51<35:39,  1.12it/s]
 11%|█▏        | 305/2700 [17:11<4:28:43,  6.73s/it]
 11%|█▏        | 306/2700 [17:12<3:12:27,  4.82s/it]
 11%|█▏        | 307/2700 [17:12<2:19:01,  3.49s/it]
 11%|█▏        | 308/2700 [17:12<1:41:42,  2.55s/it]
 11%|█▏        | 309/2700 [17:13<1:15:28,  1.89s/it]
 11%|█▏        | 310/2700 [17:13<57:13,  1.44s/it]  
 12%|█▏        | 311/2700 [17:13<44:21,  1.11s/it]
 12%|█▏        | 312/2700 [17:14<35:15,  1.13it/s]
 12%|█▏        | 313/2700 [17:32<3:59:48,  6.03s/it]
 12%|█▏        | 314/2700 [17:32<2:52:24,  4.34s/it]
 12%|█▏        | 315/2700 [17:33<2:05:06,  3.15s/it]
 12%|█▏        | 316/2700 [17:33<1:31:54,  2.31s/it]
 12%|█▏        | 317/2700 [17:33<1:08:42,  1.73s/it]
 12%|█▏        | 318/2700 [17:34<52:18,  1.32s/it]  
 12%|█▏        | 319/2700 [17:34<40:49,  1.03s/it]
 12%|█▏        | 320/2700 [17:34<32:47,  1.21it/s]
 12%|█▏        | 321/2700 [17:58<5:09:38,  7.81s/it]
 12%|█▏        | 322/2700 [17:59<3:40:51,  5.57s/it]
 12%|█▏        | 323/2700 [17:59<2:38:45,  4.01s/it]
 12%|█▏        | 324/2700 [18:00<1:55:15,  2.91s/it]
 12%|█▏        | 325/2700 [18:00<1:24:55,  2.15s/it]
 12%|█▏        | 326/2700 [18:00<1:03:45,  1.61s/it]
 12%|█▏        | 327/2700 [18:01<48:53,  1.24s/it]  
 12%|█▏        | 328/2700 [18:01<38:28,  1.03it/s]
 12%|█▏        | 329/2700 [18:19<3:55:59,  5.97s/it]
 12%|█▏        | 330/2700 [18:19<2:49:15,  4.29s/it]
 12%|█▏        | 331/2700 [18:19<2:02:32,  3.10s/it]
 12%|█▏        | 332/2700 [18:20<1:29:52,  2.28s/it]
 12%|█▏        | 333/2700 [18:20<1:07:00,  1.70s/it]
 12%|█▏        | 334/2700 [18:20<50:59,  1.29s/it]  
 12%|█▏        | 335/2700 [18:21<39:45,  1.01s/it]
 12%|█▏        | 336/2700 [18:21<31:55,  1.23it/s]
 12%|█▏        | 337/2700 [18:40<4:11:19,  6.38s/it]
 13%|█▎        | 338/2700 [18:41<3:00:10,  4.58s/it]
 13%|█▎        | 339/2700 [18:41<2:10:25,  3.31s/it]
 13%|█▎        | 340/2700 [18:42<1:35:34,  2.43s/it]
 13%|█▎        | 341/2700 [18:42<1:11:09,  1.81s/it]
 13%|█▎        | 342/2700 [18:42<54:04,  1.38s/it]  
 13%|█▎        | 343/2700 [18:43<42:03,  1.07s/it]
 13%|█▎        | 344/2700 [18:43<33:40,  1.17it/s]
 13%|█▎        | 345/2700 [19:02<4:06:07,  6.27s/it]
 13%|█▎        | 346/2700 [19:02<2:56:38,  4.50s/it]
 13%|█▎        | 347/2700 [19:03<2:08:00,  3.26s/it]
 13%|█▎        | 348/2700 [19:03<1:34:04,  2.40s/it]
 13%|█▎        | 349/2700 [19:03<1:10:18,  1.79s/it]
 13%|█▎        | 350/2700 [19:04<53:48,  1.37s/it]  
 13%|█▎        | 351/2700 [19:04<42:06,  1.08s/it]
 13%|█▎        | 352/2700 [19:05<33:53,  1.15it/s]
 13%|█▎        | 353/2700 [19:25<4:23:22,  6.73s/it]
 13%|█▎        | 354/2700 [19:25<3:08:38,  4.82s/it]
 13%|█▎        | 355/2700 [19:26<2:16:24,  3.49s/it]
 13%|█▎        | 356/2700 [19:26<1:39:49,  2.56s/it]
 13%|█▎        | 357/2700 [19:26<1:14:11,  1.90s/it]
 13%|█▎        | 358/2700 [19:27<56:21,  1.44s/it]  
 13%|█▎        | 359/2700 [19:27<43:57,  1.13s/it]
 13%|█▎        | 360/2700 [19:28<35:11,  1.11it/s]
 13%|█▎        | 361/2700 [19:48<4:28:48,  6.90s/it]
 13%|█▎        | 362/2700 [19:49<3:12:28,  4.94s/it]
 13%|█▎        | 363/2700 [19:49<2:19:05,  3.57s/it]
 13%|█▎        | 364/2700 [19:50<1:41:38,  2.61s/it]
 14%|█▎        | 365/2700 [19:50<1:15:22,  1.94s/it]
 14%|█▎        | 366/2700 [19:50<57:11,  1.47s/it]  
 14%|█▎        | 367/2700 [19:51<44:17,  1.14s/it]
 14%|█▎        | 368/2700 [19:51<35:23,  1.10it/s]
 14%|█▎        | 369/2700 [20:12<4:31:53,  7.00s/it]
 14%|█▎        | 370/2700 [20:13<3:14:36,  5.01s/it]
 14%|█▎        | 371/2700 [20:13<2:20:20,  3.62s/it]
 14%|█▍        | 372/2700 [20:13<1:42:21,  2.64s/it]
 14%|█▍        | 373/2700 [20:14<1:15:49,  1.96s/it]
 14%|█▍        | 374/2700 [20:14<57:12,  1.48s/it]  
 14%|█▍        | 375/2700 [20:14<44:14,  1.14s/it]
 14%|█▍        | 376/2700 [20:15<35:14,  1.10it/s]
 14%|█▍        | 376/2700 [20:37<2:07:26,  3.29s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json.
+PlasticBottlesInSquarePailTask_1 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_1, run: 1, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: True, episode_step: 377, duration: 25.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.370377328183224, 'joint_sparc_mean': -10.840372372324355, 'ee_isj': 3380.556967191277, 'joint_isj': 49678.492278192716, 'ee_path_length': 4.460809297633396, 'joint_rmse_mean': 0.9751555998082431, 'ee_speed_max': 0.6709102392196655, 'ee_speed_mean': 0.16627061367034912}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 6, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['squarepail_a01']}, instruction_type: default, timing: {'policy_inference_s': 1111.429, 'policy_inference_avg_ms': 2948.1, 'env_step_s': 122.282, 'env_step_avg_ms': 324.4, 'video_write_s': 3.112, 'video_write_avg_ms': 8.3, 'wall_total_s': 1236.822, 'it_per_sec': 0.3}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: c17f97b2b78f4bff8065a4120f9abce3-1
+[RoboLab] Running PlasticBottlesInSquarePailTask_2: 'Put all the small plastic bottles in the square pail' (run 2, 1 envs)
+
  0%|          | 0/2700 [00:00<?, ?it/s]
  0%|          | 1/2700 [01:03<47:20:08, 63.14s/it]
  0%|          | 2/2700 [01:03<19:38:10, 26.20s/it]
  0%|          | 3/2700 [01:03<10:46:51, 14.39s/it]
  0%|          | 4/2700 [01:04<6:37:09,  8.84s/it] 
  0%|          | 5/2700 [01:04<4:19:25,  5.78s/it]
  0%|          | 6/2700 [01:04<2:56:25,  3.93s/it]
  0%|          | 7/2700 [01:05<2:03:36,  2.75s/it]
  0%|          | 8/2700 [01:05<1:29:02,  1.98s/it]
  0%|          | 9/2700 [01:21<4:50:32,  6.48s/it]
  0%|          | 10/2700 [01:22<3:25:23,  4.58s/it]
  0%|          | 11/2700 [01:22<2:26:59,  3.28s/it]
  0%|          | 12/2700 [01:22<1:46:46,  2.38s/it]
  0%|          | 13/2700 [01:23<1:18:56,  1.76s/it]
  1%|          | 14/2700 [01:23<59:36,  1.33s/it]  
  1%|          | 15/2700 [01:23<46:15,  1.03s/it]
  1%|          | 16/2700 [01:24<36:46,  1.22it/s]
  1%|          | 17/2700 [01:34<2:39:01,  3.56s/it]
  1%|          | 18/2700 [01:34<1:55:40,  2.59s/it]
  1%|          | 19/2700 [01:34<1:25:20,  1.91s/it]
  1%|          | 20/2700 [01:35<1:04:16,  1.44s/it]
  1%|          | 21/2700 [01:35<49:22,  1.11s/it]  
  1%|          | 22/2700 [01:35<38:56,  1.15it/s]
  1%|          | 23/2700 [01:36<31:39,  1.41it/s]
  1%|          | 24/2700 [01:36<26:39,  1.67it/s]
  1%|          | 25/2700 [01:56<4:41:24,  6.31s/it]
  1%|          | 26/2700 [01:56<3:21:29,  4.52s/it]
  1%|          | 27/2700 [01:56<2:25:30,  3.27s/it]
  1%|          | 28/2700 [01:57<1:46:14,  2.39s/it]
  1%|          | 29/2700 [01:57<1:18:49,  1.77s/it]
  1%|          | 30/2700 [01:57<59:39,  1.34s/it]  
  1%|          | 31/2700 [01:58<46:15,  1.04s/it]
  1%|          | 32/2700 [01:58<36:47,  1.21it/s]
  1%|          | 33/2700 [02:17<4:40:23,  6.31s/it]
  1%|▏         | 34/2700 [02:17<3:20:34,  4.51s/it]
  1%|▏         | 35/2700 [02:18<2:24:57,  3.26s/it]
  1%|▏         | 36/2700 [02:18<1:45:53,  2.38s/it]
  1%|▏         | 37/2700 [02:18<1:18:27,  1.77s/it]
  1%|▏         | 38/2700 [02:19<59:20,  1.34s/it]  
  1%|▏         | 39/2700 [02:19<45:51,  1.03s/it]
  1%|▏         | 40/2700 [02:19<36:30,  1.21it/s]
  2%|▏         | 41/2700 [02:48<6:42:28,  9.08s/it]
  2%|▏         | 42/2700 [02:48<4:46:04,  6.46s/it]
  2%|▏         | 43/2700 [02:48<3:24:35,  4.62s/it]
  2%|▏         | 44/2700 [02:49<2:27:32,  3.33s/it]
  2%|▏         | 45/2700 [02:49<1:47:33,  2.43s/it]
  2%|▏         | 46/2700 [02:49<1:19:40,  1.80s/it]
  2%|▏         | 47/2700 [02:50<1:00:08,  1.36s/it]
  2%|▏         | 48/2700 [02:50<46:51,  1.06s/it]  
  2%|▏         | 49/2700 [03:10<4:58:10,  6.75s/it]
  2%|▏         | 50/2700 [03:10<3:33:02,  4.82s/it]
  2%|▏         | 51/2700 [03:11<2:33:21,  3.47s/it]
  2%|▏         | 52/2700 [03:11<1:51:40,  2.53s/it]
  2%|▏         | 53/2700 [03:11<1:22:28,  1.87s/it]
  2%|▏         | 54/2700 [03:12<1:02:01,  1.41s/it]
  2%|▏         | 55/2700 [03:12<47:43,  1.08s/it]  
  2%|▏         | 56/2700 [03:12<37:44,  1.17it/s]
  2%|▏         | 57/2700 [03:34<5:11:09,  7.06s/it]
  2%|▏         | 58/2700 [03:34<3:42:05,  5.04s/it]
  2%|▏         | 59/2700 [03:35<2:39:49,  3.63s/it]
  2%|▏         | 60/2700 [03:35<1:56:15,  2.64s/it]
  2%|▏         | 61/2700 [03:35<1:25:50,  1.95s/it]
  2%|▏         | 62/2700 [03:36<1:04:37,  1.47s/it]
  2%|▏         | 63/2700 [03:36<49:42,  1.13s/it]  
  2%|▏         | 64/2700 [03:36<39:11,  1.12it/s]
  2%|▏         | 65/2700 [04:02<6:12:25,  8.48s/it]
  2%|▏         | 66/2700 [04:03<4:25:00,  6.04s/it]
  2%|▏         | 67/2700 [04:03<3:09:46,  4.32s/it]
  3%|▎         | 68/2700 [04:03<2:17:14,  3.13s/it]
  3%|▎         | 69/2700 [04:04<1:40:30,  2.29s/it]
  3%|▎         | 70/2700 [04:04<1:14:44,  1.71s/it]
  3%|▎         | 71/2700 [04:04<56:38,  1.29s/it]  
  3%|▎         | 72/2700 [04:05<44:07,  1.01s/it]
  3%|▎         | 73/2700 [04:41<8:25:59, 11.56s/it]
  3%|▎         | 74/2700 [04:41<5:58:23,  8.19s/it]
  3%|▎         | 75/2700 [04:42<4:15:08,  5.83s/it]
  3%|▎         | 76/2700 [04:42<3:03:07,  4.19s/it]
  3%|▎         | 77/2700 [04:42<2:12:49,  3.04s/it]
  3%|▎         | 78/2700 [04:43<1:37:43,  2.24s/it]
  3%|▎         | 79/2700 [04:43<1:13:12,  1.68s/it]
  3%|▎         | 80/2700 [04:43<55:58,  1.28s/it]  
  3%|▎         | 81/2700 [05:08<6:05:10,  8.37s/it]
  3%|▎         | 82/2700 [05:09<4:19:55,  5.96s/it]
  3%|▎         | 83/2700 [05:09<3:06:19,  4.27s/it]
  3%|▎         | 84/2700 [05:09<2:14:43,  3.09s/it]
  3%|▎         | 85/2700 [05:10<1:38:42,  2.26s/it]
  3%|▎         | 86/2700 [05:10<1:13:22,  1.68s/it]
  3%|▎         | 87/2700 [05:10<55:49,  1.28s/it]  
  3%|▎         | 88/2700 [05:11<43:30,  1.00it/s]
  3%|▎         | 89/2700 [05:21<2:46:18,  3.82s/it]
  3%|▎         | 90/2700 [05:21<2:00:50,  2.78s/it]
  3%|▎         | 91/2700 [05:22<1:28:55,  2.05s/it]
  3%|▎         | 92/2700 [05:22<1:06:35,  1.53s/it]
  3%|▎         | 93/2700 [05:22<51:07,  1.18s/it]  
  3%|▎         | 94/2700 [05:23<40:16,  1.08it/s]
  4%|▎         | 95/2700 [05:23<32:38,  1.33it/s]
  4%|▎         | 96/2700 [05:24<27:20,  1.59it/s]
  4%|▎         | 97/2700 [05:34<2:40:39,  3.70s/it]
  4%|▎         | 98/2700 [05:35<1:57:00,  2.70s/it]
  4%|▎         | 99/2700 [05:35<1:26:20,  1.99s/it]
  4%|▎         | 100/2700 [05:35<1:04:54,  1.50s/it]
  4%|▎         | 101/2700 [05:36<49:58,  1.15s/it]  
  4%|▍         | 102/2700 [05:36<39:29,  1.10it/s]
  4%|▍         | 103/2700 [05:36<32:08,  1.35it/s]
  4%|▍         | 104/2700 [05:37<27:09,  1.59it/s]
  4%|▍         | 105/2700 [05:54<4:01:26,  5.58s/it]
  4%|▍         | 106/2700 [05:54<2:53:21,  4.01s/it]
  4%|▍         | 107/2700 [05:55<2:05:44,  2.91s/it]
  4%|▍         | 108/2700 [05:55<1:32:23,  2.14s/it]
  4%|▍         | 109/2700 [05:55<1:09:04,  1.60s/it]
  4%|▍         | 110/2700 [05:56<52:48,  1.22s/it]  
  4%|▍         | 111/2700 [05:56<41:22,  1.04it/s]
  4%|▍         | 112/2700 [05:56<33:22,  1.29it/s]
  4%|▍         | 113/2700 [06:14<4:06:54,  5.73s/it]
  4%|▍         | 114/2700 [06:14<2:57:37,  4.12s/it]
  4%|▍         | 115/2700 [06:14<2:09:01,  2.99s/it]
  4%|▍         | 116/2700 [06:15<1:35:00,  2.21s/it]
  4%|▍         | 117/2700 [06:15<1:11:14,  1.65s/it]
  4%|▍         | 118/2700 [06:16<54:43,  1.27s/it]  
  4%|▍         | 119/2700 [06:16<43:09,  1.00s/it]
  4%|▍         | 120/2700 [06:16<35:02,  1.23it/s]
  4%|▍         | 121/2700 [06:29<3:03:34,  4.27s/it]
  5%|▍         | 122/2700 [06:29<2:13:22,  3.10s/it]
  5%|▍         | 123/2700 [06:29<1:38:16,  2.29s/it]
  5%|▍         | 124/2700 [06:30<1:13:42,  1.72s/it]
  5%|▍         | 125/2700 [06:30<56:01,  1.31s/it]  
  5%|▍         | 126/2700 [06:30<43:33,  1.02s/it]
  5%|▍         | 127/2700 [06:31<34:47,  1.23it/s]
  5%|▍         | 128/2700 [06:31<28:40,  1.49it/s]
  5%|▍         | 129/2700 [07:06<7:51:14, 11.00s/it]
  5%|▍         | 130/2700 [07:07<5:34:07,  7.80s/it]
  5%|▍         | 131/2700 [07:07<3:58:10,  5.56s/it]
  5%|▍         | 132/2700 [07:07<2:50:59,  4.00s/it]
  5%|▍         | 133/2700 [07:08<2:04:08,  2.90s/it]
  5%|▍         | 134/2700 [07:08<1:31:23,  2.14s/it]
  5%|▌         | 135/2700 [07:08<1:08:26,  1.60s/it]
  5%|▌         | 136/2700 [07:09<52:24,  1.23s/it]  
  5%|▌         | 137/2700 [07:24<3:51:57,  5.43s/it]
  5%|▌         | 138/2700 [07:24<2:46:40,  3.90s/it]
  5%|▌         | 139/2700 [07:25<2:01:00,  2.83s/it]
  5%|▌         | 140/2700 [07:25<1:29:09,  2.09s/it]
  5%|▌         | 141/2700 [07:25<1:06:42,  1.56s/it]
  5%|▌         | 142/2700 [07:26<51:12,  1.20s/it]  
  5%|▌         | 143/2700 [07:26<40:17,  1.06it/s]
  5%|▌         | 144/2700 [07:26<32:44,  1.30it/s]
  5%|▌         | 145/2700 [07:44<4:03:00,  5.71s/it]
  5%|▌         | 146/2700 [07:44<2:54:23,  4.10s/it]
  5%|▌         | 147/2700 [07:44<2:06:20,  2.97s/it]
  5%|▌         | 148/2700 [07:45<1:32:45,  2.18s/it]
  6%|▌         | 149/2700 [07:45<1:09:15,  1.63s/it]
  6%|▌         | 150/2700 [07:45<52:52,  1.24s/it]  
  6%|▌         | 151/2700 [07:46<41:32,  1.02it/s]
  6%|▌         | 152/2700 [07:46<33:37,  1.26it/s]
  6%|▌         | 153/2700 [08:02<3:47:03,  5.35s/it]
  6%|▌         | 154/2700 [08:02<2:43:19,  3.85s/it]
  6%|▌         | 155/2700 [08:03<1:58:49,  2.80s/it]
  6%|▌         | 156/2700 [08:03<1:27:44,  2.07s/it]
  6%|▌         | 157/2700 [08:03<1:05:59,  1.56s/it]
  6%|▌         | 158/2700 [08:04<50:37,  1.19s/it]  
  6%|▌         | 159/2700 [08:04<39:58,  1.06it/s]
  6%|▌         | 160/2700 [08:04<32:25,  1.31it/s]
  6%|▌         | 161/2700 [08:28<5:17:54,  7.51s/it]
  6%|▌         | 162/2700 [08:28<3:46:57,  5.37s/it]
  6%|▌         | 163/2700 [08:28<2:43:26,  3.87s/it]
  6%|▌         | 164/2700 [08:29<1:58:48,  2.81s/it]
  6%|▌         | 165/2700 [08:29<1:27:37,  2.07s/it]
  6%|▌         | 166/2700 [08:29<1:05:50,  1.56s/it]
  6%|▌         | 167/2700 [08:30<50:29,  1.20s/it]  
  6%|▌         | 168/2700 [08:30<39:56,  1.06it/s]
  6%|▋         | 169/2700 [08:44<3:21:29,  4.78s/it]
  6%|▋         | 170/2700 [08:44<2:25:36,  3.45s/it]
  6%|▋         | 171/2700 [08:45<1:46:27,  2.53s/it]
  6%|▋         | 172/2700 [08:45<1:19:06,  1.88s/it]
  6%|▋         | 173/2700 [08:45<59:52,  1.42s/it]  
  6%|▋         | 174/2700 [08:46<46:31,  1.11s/it]
  6%|▋         | 175/2700 [08:46<37:16,  1.13it/s]
  7%|▋         | 176/2700 [08:46<30:44,  1.37it/s]
  7%|▋         | 177/2700 [09:05<4:10:11,  5.95s/it]
  7%|▋         | 178/2700 [09:05<2:59:57,  4.28s/it]
  7%|▋         | 179/2700 [09:05<2:10:35,  3.11s/it]
  7%|▋         | 180/2700 [09:06<1:35:54,  2.28s/it]
  7%|▋         | 181/2700 [09:06<1:11:39,  1.71s/it]
  7%|▋         | 182/2700 [09:06<54:47,  1.31s/it]  
  7%|▋         | 183/2700 [09:07<43:07,  1.03s/it]
  7%|▋         | 184/2700 [09:07<34:54,  1.20it/s]
  7%|▋         | 185/2700 [09:28<4:49:38,  6.91s/it]
  7%|▋         | 186/2700 [09:29<3:27:15,  4.95s/it]
  7%|▋         | 187/2700 [09:29<2:29:37,  3.57s/it]
  7%|▋         | 188/2700 [09:29<1:49:16,  2.61s/it]
  7%|▋         | 189/2700 [09:30<1:21:03,  1.94s/it]
  7%|▋         | 190/2700 [09:30<1:01:18,  1.47s/it]
  7%|▋         | 191/2700 [09:30<47:30,  1.14s/it]  
  7%|▋         | 192/2700 [09:31<37:35,  1.11it/s]
  7%|▋         | 193/2700 [09:50<4:24:48,  6.34s/it]
  7%|▋         | 194/2700 [09:50<3:09:34,  4.54s/it]
  7%|▋         | 195/2700 [09:51<2:17:04,  3.28s/it]
  7%|▋         | 196/2700 [09:51<1:40:19,  2.40s/it]
  7%|▋         | 197/2700 [09:51<1:14:29,  1.79s/it]
  7%|▋         | 198/2700 [09:52<56:26,  1.35s/it]  
  7%|▋         | 199/2700 [09:52<43:49,  1.05s/it]
  7%|▋         | 200/2700 [09:52<35:02,  1.19it/s]
  7%|▋         | 201/2700 [10:25<7:12:17, 10.38s/it]
  7%|▋         | 202/2700 [10:25<5:06:48,  7.37s/it]
  8%|▊         | 203/2700 [10:26<3:39:01,  5.26s/it]
  8%|▊         | 204/2700 [10:26<2:37:49,  3.79s/it]
  8%|▊         | 205/2700 [10:26<1:54:42,  2.76s/it]
  8%|▊         | 206/2700 [10:27<1:24:33,  2.03s/it]
  8%|▊         | 207/2700 [10:27<1:03:28,  1.53s/it]
  8%|▊         | 208/2700 [10:27<48:45,  1.17s/it]  
  8%|▊         | 209/2700 [10:41<3:25:18,  4.95s/it]
  8%|▊         | 210/2700 [10:41<2:27:55,  3.56s/it]
  8%|▊         | 211/2700 [10:42<1:47:43,  2.60s/it]
  8%|▊         | 212/2700 [10:42<1:19:37,  1.92s/it]
  8%|▊         | 213/2700 [10:42<59:58,  1.45s/it]  
  8%|▊         | 214/2700 [10:43<46:14,  1.12s/it]
  8%|▊         | 215/2700 [10:43<36:37,  1.13it/s]
  8%|▊         | 216/2700 [10:43<29:54,  1.38it/s]
  8%|▊         | 217/2700 [11:00<3:47:58,  5.51s/it]
  8%|▊         | 218/2700 [11:01<2:43:46,  3.96s/it]
  8%|▊         | 219/2700 [11:01<1:58:48,  2.87s/it]
  8%|▊         | 220/2700 [11:01<1:27:21,  2.11s/it]
  8%|▊         | 221/2700 [11:02<1:05:17,  1.58s/it]
  8%|▊         | 222/2700 [11:02<49:56,  1.21s/it]  
  8%|▊         | 223/2700 [11:02<39:15,  1.05it/s]
  8%|▊         | 224/2700 [11:03<31:48,  1.30it/s]
  8%|▊         | 225/2700 [11:30<6:05:16,  8.86s/it]
  8%|▊         | 226/2700 [11:31<4:19:55,  6.30s/it]
  8%|▊         | 227/2700 [11:31<3:06:21,  4.52s/it]
  8%|▊         | 228/2700 [11:31<2:14:55,  3.27s/it]
  8%|▊         | 229/2700 [11:32<1:38:53,  2.40s/it]
  9%|▊         | 230/2700 [11:32<1:13:34,  1.79s/it]
  9%|▊         | 231/2700 [11:32<55:54,  1.36s/it]  
  9%|▊         | 232/2700 [11:33<43:27,  1.06s/it]
  9%|▊         | 233/2700 [11:53<4:41:31,  6.85s/it]
  9%|▊         | 234/2700 [11:54<3:21:17,  4.90s/it]
  9%|▊         | 235/2700 [11:54<2:25:07,  3.53s/it]
  9%|▊         | 236/2700 [11:54<1:46:01,  2.58s/it]
  9%|▉         | 237/2700 [11:55<1:18:46,  1.92s/it]
  9%|▉         | 238/2700 [11:55<59:30,  1.45s/it]  
  9%|▉         | 239/2700 [11:55<46:01,  1.12s/it]
  9%|▉         | 240/2700 [11:56<36:33,  1.12it/s]
  9%|▉         | 241/2700 [12:18<5:05:47,  7.46s/it]
  9%|▉         | 242/2700 [12:19<3:38:43,  5.34s/it]
  9%|▉         | 243/2700 [12:19<2:37:38,  3.85s/it]
  9%|▉         | 244/2700 [12:20<1:54:52,  2.81s/it]
  9%|▉         | 245/2700 [12:20<1:24:58,  2.08s/it]
  9%|▉         | 246/2700 [12:20<1:03:59,  1.56s/it]
  9%|▉         | 247/2700 [12:21<49:14,  1.20s/it]  
  9%|▉         | 248/2700 [12:21<39:02,  1.05it/s]
  9%|▉         | 249/2700 [13:00<8:30:16, 12.49s/it]
  9%|▉         | 250/2700 [13:01<6:01:27,  8.85s/it]
  9%|▉         | 251/2700 [13:01<4:17:21,  6.31s/it]
  9%|▉         | 252/2700 [13:02<3:04:21,  4.52s/it]
  9%|▉         | 253/2700 [13:02<2:13:16,  3.27s/it]
  9%|▉         | 254/2700 [13:02<1:37:34,  2.39s/it]
  9%|▉         | 255/2700 [13:03<1:12:36,  1.78s/it]
  9%|▉         | 256/2700 [13:03<55:05,  1.35s/it]  
 10%|▉         | 257/2700 [13:27<5:37:46,  8.30s/it]
 10%|▉         | 258/2700 [13:28<4:00:36,  5.91s/it]
 10%|▉         | 259/2700 [13:28<2:52:34,  4.24s/it]
 10%|▉         | 260/2700 [13:28<2:05:05,  3.08s/it]
 10%|▉         | 261/2700 [13:29<1:32:10,  2.27s/it]
 10%|▉         | 262/2700 [13:29<1:09:00,  1.70s/it]
 10%|▉         | 263/2700 [13:30<52:49,  1.30s/it]  
 10%|▉         | 264/2700 [13:30<41:20,  1.02s/it]
 10%|▉         | 265/2700 [13:56<5:41:20,  8.41s/it]
 10%|▉         | 266/2700 [13:56<4:03:16,  6.00s/it]
 10%|▉         | 267/2700 [13:56<2:54:49,  4.31s/it]
 10%|▉         | 268/2700 [13:57<2:06:52,  3.13s/it]
 10%|▉         | 269/2700 [13:57<1:33:08,  2.30s/it]
 10%|█         | 270/2700 [13:57<1:09:39,  1.72s/it]
 10%|█         | 271/2700 [13:58<53:11,  1.31s/it]  
 10%|█         | 272/2700 [13:58<41:42,  1.03s/it]
 10%|█         | 273/2700 [14:14<3:41:49,  5.48s/it]
 10%|█         | 274/2700 [14:14<2:39:49,  3.95s/it]
 10%|█         | 275/2700 [14:15<1:56:13,  2.88s/it]
 10%|█         | 276/2700 [14:15<1:25:54,  2.13s/it]
 10%|█         | 277/2700 [14:16<1:04:28,  1.60s/it]
 10%|█         | 278/2700 [14:16<49:38,  1.23s/it]  
 10%|█         | 279/2700 [14:16<39:17,  1.03it/s]
 10%|█         | 280/2700 [14:17<31:54,  1.26it/s]
 10%|█         | 281/2700 [14:33<3:41:57,  5.51s/it]
 10%|█         | 282/2700 [14:34<2:39:50,  3.97s/it]
 10%|█         | 283/2700 [14:34<1:56:22,  2.89s/it]
 11%|█         | 284/2700 [14:34<1:26:00,  2.14s/it]
 11%|█         | 285/2700 [14:35<1:04:41,  1.61s/it]
 11%|█         | 286/2700 [14:35<49:46,  1.24s/it]  
 11%|█         | 287/2700 [14:35<39:26,  1.02it/s]
 11%|█         | 288/2700 [14:36<32:23,  1.24it/s]
 11%|█         | 289/2700 [15:01<5:25:52,  8.11s/it]
 11%|█         | 290/2700 [15:01<3:52:25,  5.79s/it]
 11%|█         | 291/2700 [15:02<2:46:57,  4.16s/it]
 11%|█         | 292/2700 [15:02<2:01:12,  3.02s/it]
 11%|█         | 293/2700 [15:02<1:29:08,  2.22s/it]
 11%|█         | 294/2700 [15:03<1:06:43,  1.66s/it]
 11%|█         | 295/2700 [15:03<51:02,  1.27s/it]  
 11%|█         | 296/2700 [15:04<40:04,  1.00s/it]
 11%|█         | 297/2700 [15:19<3:36:14,  5.40s/it]
 11%|█         | 298/2700 [15:20<2:35:38,  3.89s/it]
 11%|█         | 299/2700 [15:20<1:53:15,  2.83s/it]
 11%|█         | 300/2700 [15:20<1:23:36,  2.09s/it]
 11%|█         | 301/2700 [15:21<1:02:53,  1.57s/it]
 11%|█         | 302/2700 [15:21<48:29,  1.21s/it]  
 11%|█         | 303/2700 [15:21<38:29,  1.04it/s]
 11%|█▏        | 304/2700 [15:22<31:33,  1.27it/s]
 11%|█▏        | 305/2700 [15:49<5:48:16,  8.72s/it]
 11%|█▏        | 306/2700 [15:49<4:08:28,  6.23s/it]
 11%|█▏        | 307/2700 [15:50<2:58:18,  4.47s/it]
 11%|█▏        | 308/2700 [15:50<2:09:12,  3.24s/it]
 11%|█▏        | 309/2700 [15:51<1:34:50,  2.38s/it]
 11%|█▏        | 310/2700 [15:51<1:10:49,  1.78s/it]
 12%|█▏        | 311/2700 [15:51<53:59,  1.36s/it]  
 12%|█▏        | 312/2700 [15:52<42:40,  1.07s/it]
 12%|█▏        | 313/2700 [16:09<3:58:30,  6.00s/it]
 12%|█▏        | 314/2700 [16:10<2:51:05,  4.30s/it]
 12%|█▏        | 315/2700 [16:10<2:04:00,  3.12s/it]
 12%|█▏        | 316/2700 [16:10<1:31:08,  2.29s/it]
 12%|█▏        | 317/2700 [16:11<1:08:11,  1.72s/it]
 12%|█▏        | 318/2700 [16:11<52:05,  1.31s/it]  
 12%|█▏        | 319/2700 [16:11<40:45,  1.03s/it]
 12%|█▏        | 320/2700 [16:12<33:02,  1.20it/s]
 12%|█▏        | 321/2700 [16:47<7:20:29, 11.11s/it]
 12%|█▏        | 322/2700 [16:47<5:12:24,  7.88s/it]
 12%|█▏        | 323/2700 [16:48<3:42:53,  5.63s/it]
 12%|█▏        | 324/2700 [16:48<2:40:06,  4.04s/it]
 12%|█▏        | 325/2700 [16:48<1:56:30,  2.94s/it]
 12%|█▏        | 326/2700 [16:49<1:25:43,  2.17s/it]
 12%|█▏        | 327/2700 [16:49<1:04:17,  1.63s/it]
 12%|█▏        | 328/2700 [16:49<49:16,  1.25s/it]  
 12%|█▏        | 329/2700 [17:10<4:34:52,  6.96s/it]
 12%|█▏        | 330/2700 [17:10<3:16:29,  4.97s/it]
 12%|█▏        | 331/2700 [17:10<2:21:33,  3.59s/it]
 12%|█▏        | 332/2700 [17:11<1:43:09,  2.61s/it]
 12%|█▏        | 333/2700 [17:11<1:16:15,  1.93s/it]
 12%|█▏        | 334/2700 [17:11<57:25,  1.46s/it]  
 12%|█▏        | 335/2700 [17:12<44:20,  1.12s/it]
 12%|█▏        | 336/2700 [17:12<35:09,  1.12it/s]
 12%|█▏        | 337/2700 [17:31<4:13:01,  6.42s/it]
 13%|█▎        | 338/2700 [17:32<3:01:19,  4.61s/it]
 13%|█▎        | 339/2700 [17:32<2:11:02,  3.33s/it]
 13%|█▎        | 340/2700 [17:32<1:36:07,  2.44s/it]
 13%|█▎        | 341/2700 [17:33<1:11:31,  1.82s/it]
 13%|█▎        | 342/2700 [17:33<54:21,  1.38s/it]  
 13%|█▎        | 343/2700 [17:34<42:11,  1.07s/it]
 13%|█▎        | 344/2700 [17:34<33:41,  1.17it/s]
 13%|█▎        | 345/2700 [18:04<6:19:34,  9.67s/it]
 13%|█▎        | 346/2700 [18:05<4:29:49,  6.88s/it]
 13%|█▎        | 347/2700 [18:05<3:12:56,  4.92s/it]
 13%|█▎        | 348/2700 [18:05<2:19:07,  3.55s/it]
 13%|█▎        | 349/2700 [18:06<1:41:34,  2.59s/it]
 13%|█▎        | 350/2700 [18:06<1:15:15,  1.92s/it]
 13%|█▎        | 351/2700 [18:06<56:45,  1.45s/it]  
 13%|█▎        | 352/2700 [18:07<43:52,  1.12s/it]
 13%|█▎        | 353/2700 [18:44<7:53:19, 12.10s/it]
 13%|█▎        | 354/2700 [18:45<5:35:38,  8.58s/it]
 13%|█▎        | 355/2700 [18:45<3:59:09,  6.12s/it]
 13%|█▎        | 356/2700 [18:45<2:51:40,  4.39s/it]
 13%|█▎        | 357/2700 [18:46<2:04:35,  3.19s/it]
 13%|█▎        | 358/2700 [18:46<1:31:21,  2.34s/it]
 13%|█▎        | 359/2700 [18:47<1:07:58,  1.74s/it]
 13%|█▎        | 360/2700 [18:47<51:57,  1.33s/it]  
 13%|█▎        | 361/2700 [19:23<7:34:58, 11.67s/it]
 13%|█▎        | 362/2700 [19:23<5:22:34,  8.28s/it]
 13%|█▎        | 363/2700 [19:23<3:49:50,  5.90s/it]
 13%|█▎        | 364/2700 [19:24<2:44:57,  4.24s/it]
 14%|█▎        | 365/2700 [19:24<1:59:39,  3.07s/it]
 14%|█▎        | 366/2700 [19:25<1:27:47,  2.26s/it]
 14%|█▎        | 367/2700 [19:25<1:05:30,  1.68s/it]
 14%|█▎        | 368/2700 [19:25<49:52,  1.28s/it]  
 14%|█▎        | 369/2700 [19:47<4:48:38,  7.43s/it]
 14%|█▎        | 370/2700 [19:47<3:26:20,  5.31s/it]
 14%|█▎        | 371/2700 [19:48<2:28:46,  3.83s/it]
 14%|█▍        | 372/2700 [19:48<1:48:28,  2.80s/it]
 14%|█▍        | 373/2700 [19:48<1:20:15,  2.07s/it]
 14%|█▍        | 374/2700 [19:49<1:00:29,  1.56s/it]
 14%|█▍        | 375/2700 [19:49<46:48,  1.21s/it]  
 14%|█▍        | 376/2700 [19:50<37:20,  1.04it/s]
 14%|█▍        | 377/2700 [20:14<5:07:45,  7.95s/it]
 14%|█▍        | 378/2700 [20:14<3:39:46,  5.68s/it]
 14%|█▍        | 379/2700 [20:15<2:38:14,  4.09s/it]
 14%|█▍        | 380/2700 [20:15<1:55:13,  2.98s/it]
 14%|█▍        | 381/2700 [20:15<1:25:02,  2.20s/it]
 14%|█▍        | 382/2700 [20:16<1:03:48,  1.65s/it]
 14%|█▍        | 383/2700 [20:16<49:01,  1.27s/it]  
 14%|█▍        | 384/2700 [20:17<38:37,  1.00s/it]
 14%|█▍        | 385/2700 [20:38<4:37:41,  7.20s/it]
 14%|█▍        | 386/2700 [20:39<3:18:49,  5.16s/it]
 14%|█▍        | 387/2700 [20:39<2:23:24,  3.72s/it]
 14%|█▍        | 388/2700 [20:39<1:44:36,  2.71s/it]
 14%|█▍        | 389/2700 [20:40<1:17:45,  2.02s/it]
 14%|█▍        | 390/2700 [20:40<58:53,  1.53s/it]  
 14%|█▍        | 391/2700 [20:40<45:35,  1.18s/it]
 15%|█▍        | 392/2700 [20:41<36:11,  1.06it/s]
 15%|█▍        | 393/2700 [21:00<4:06:24,  6.41s/it]
 15%|█▍        | 394/2700 [21:00<2:56:51,  4.60s/it]
 15%|█▍        | 395/2700 [21:01<2:08:06,  3.33s/it]
 15%|█▍        | 396/2700 [21:01<1:34:03,  2.45s/it]
 15%|█▍        | 397/2700 [21:02<1:10:15,  1.83s/it]
 15%|█▍        | 398/2700 [21:02<53:35,  1.40s/it]  
 15%|█▍        | 399/2700 [21:02<41:48,  1.09s/it]
 15%|█▍        | 400/2700 [21:03<33:32,  1.14it/s]
 15%|█▍        | 401/2700 [21:22<4:04:07,  6.37s/it]
 15%|█▍        | 402/2700 [21:22<2:55:15,  4.58s/it]
 15%|█▍        | 403/2700 [21:23<2:07:00,  3.32s/it]
 15%|█▍        | 404/2700 [21:23<1:33:10,  2.43s/it]
 15%|█▌        | 405/2700 [21:23<1:09:31,  1.82s/it]
 15%|█▌        | 406/2700 [21:24<53:03,  1.39s/it]  
 15%|█▌        | 407/2700 [21:24<41:31,  1.09s/it]
 15%|█▌        | 408/2700 [21:25<33:35,  1.14it/s]
 15%|█▌        | 409/2700 [21:46<4:32:53,  7.15s/it]
 15%|█▌        | 410/2700 [21:47<3:15:25,  5.12s/it]
 15%|█▌        | 411/2700 [21:47<2:21:02,  3.70s/it]
 15%|█▌        | 412/2700 [21:48<1:43:01,  2.70s/it]
 15%|█▌        | 413/2700 [21:48<1:16:27,  2.01s/it]
 15%|█▌        | 414/2700 [21:48<57:52,  1.52s/it]  
 15%|█▌        | 415/2700 [21:49<44:49,  1.18s/it]
 15%|█▌        | 416/2700 [21:49<35:38,  1.07it/s]
 15%|█▌        | 416/2700 [22:17<2:02:24,  3.22s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json.
+PlasticBottlesInSquarePailTask_2 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_2, run: 2, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: True, episode_step: 417, duration: 27.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.223451849069139, 'joint_sparc_mean': -10.623441790587274, 'ee_isj': 2577.545133286334, 'joint_isj': 123125.73473477509, 'ee_path_length': 4.20965389855648, 'joint_rmse_mean': 0.871665088687094, 'ee_speed_max': 0.5993512272834778, 'ee_speed_mean': 0.13956725597381592}, events: {'GRIPPER_FULLY_CLOSED': 4, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 7}, instruction_type: default, timing: {'policy_inference_s': 1200.452, 'policy_inference_avg_ms': 2878.8, 'env_step_s': 133.322, 'env_step_avg_ms': 319.7, 'video_write_s': 3.566, 'video_write_avg_ms': 8.6, 'wall_total_s': 1337.34, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 7e71a4e4277d43b6b0482948eec93f25-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T15:53:36Z [3,969,698ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.241879 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T15:53:40Z [3,974,184ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:53:40Z [3,974,184ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:53:40Z [3,974,194ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:53:40Z [3,974,194ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:53:40Z [3,974,202ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:53:40Z [3,974,210ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T15:53:40Z [3,974,230ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T15:53:41Z [3,974,450ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((293))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,974,451ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((293))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,974,485ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((306))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,974,485ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((306))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,974,733ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((319))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,974,733ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((319))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,129ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((325))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,130ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((325))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,158ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((333))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,158ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((333))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,201ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((349))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,201ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((349))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,232ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((364))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,232ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((364))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,240ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((367))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,240ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((367))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,269ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((373))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,269ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((373))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,273ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((375))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,273ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((375))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,278ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((377))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,278ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((377))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,292ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((380))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,292ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((380))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,304ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((383))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,304ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((383))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,333ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((393))' not available in the MDL representation.
+2026-11-03T15:53:41Z [3,975,333ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((393))' not available in the MDL representation.
+2026-11-03T15:53:42Z [3,976,138ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((512))' not available in the MDL representation.
+2026-11-03T15:53:42Z [3,976,138ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((512))' not available in the MDL representation.
+2026-11-03T15:53:42Z [3,976,144ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((515))' not available in the MDL representation.
+2026-11-03T15:53:42Z [3,976,144ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((515))' not available in the MDL representation.
+2026-11-03T15:53:42Z [3,976,150ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((518))' not available in the MDL representation.
+2026-11-03T15:53:42Z [3,976,150ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((518))' not available in the MDL representation.
+2026-11-03T15:53:42Z [3,976,170ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((525))' not available in the MDL representation.
+2026-11-03T15:53:42Z [3,976,170ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((525))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,719ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((333))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,719ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((333))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,722ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((380))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,722ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((380))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,723ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((383))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,723ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((383))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,724ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((393))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,724ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((393))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,730ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((512))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,730ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((512))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,731ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((525))' not available in the MDL representation.
+2026-11-03T15:53:43Z [3,976,732ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((525))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.905656 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : OneBottleInSquarePailTask                     │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put any white plastic bottle in the square pail │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : OneBottleInSquarePailTaskSceneEnvCfg          │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running OneBottleInSquarePailTask_0: 'Put any white plastic bottle in the square pail' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:46<11:31:24, 46.15s/it]
  0%|          | 2/900 [00:46<4:47:32, 19.21s/it] 
  0%|          | 3/900 [00:46<2:38:27, 10.60s/it]
  0%|          | 4/900 [00:47<1:37:48,  6.55s/it]
  1%|          | 5/900 [00:47<1:04:23,  4.32s/it]
  1%|          | 6/900 [00:47<44:16,  2.97s/it]  
  1%|          | 7/900 [00:48<31:28,  2.12s/it]
  1%|          | 8/900 [00:48<23:05,  1.55s/it]
  1%|          | 9/900 [01:10<1:56:11,  7.82s/it]
  1%|          | 10/900 [01:10<1:21:48,  5.52s/it]
  1%|          | 11/900 [01:10<58:16,  3.93s/it]  
  1%|▏         | 12/900 [01:11<42:00,  2.84s/it]
  1%|▏         | 13/900 [01:11<30:46,  2.08s/it]
  2%|▏         | 14/900 [01:11<23:02,  1.56s/it]
  2%|▏         | 15/900 [01:12<17:35,  1.19s/it]
  2%|▏         | 16/900 [01:12<13:48,  1.07it/s]
  2%|▏         | 17/900 [01:42<2:20:10,  9.52s/it]
  2%|▏         | 18/900 [01:42<1:39:31,  6.77s/it]
  2%|▏         | 19/900 [01:42<1:11:07,  4.84s/it]
  2%|▏         | 20/900 [01:43<51:17,  3.50s/it]  
  2%|▏         | 21/900 [01:43<37:25,  2.55s/it]
  2%|▏         | 22/900 [01:43<27:44,  1.90s/it]
  3%|▎         | 23/900 [01:44<20:53,  1.43s/it]
  3%|▎         | 24/900 [01:44<16:14,  1.11s/it]
  3%|▎         | 25/900 [02:06<1:48:13,  7.42s/it]
  3%|▎         | 26/900 [02:07<1:17:23,  5.31s/it]
  3%|▎         | 27/900 [02:07<55:45,  3.83s/it]  
  3%|▎         | 28/900 [02:07<40:41,  2.80s/it]
  3%|▎         | 29/900 [02:08<30:08,  2.08s/it]
  3%|▎         | 30/900 [02:08<22:46,  1.57s/it]
  3%|▎         | 31/900 [02:09<17:34,  1.21s/it]
  4%|▎         | 32/900 [02:09<13:59,  1.03it/s]
  4%|▎         | 33/900 [02:56<3:31:57, 14.67s/it]
  4%|▍         | 34/900 [02:56<2:29:47, 10.38s/it]
  4%|▍         | 35/900 [02:56<1:46:13,  7.37s/it]
  4%|▍         | 36/900 [02:57<1:15:49,  5.27s/it]
  4%|▍         | 37/900 [02:57<54:39,  3.80s/it]  
  4%|▍         | 38/900 [02:57<39:47,  2.77s/it]
  4%|▍         | 39/900 [02:58<29:23,  2.05s/it]
  4%|▍         | 40/900 [02:58<22:07,  1.54s/it]
  5%|▍         | 41/900 [03:16<1:32:04,  6.43s/it]
  5%|▍         | 42/900 [03:16<1:05:58,  4.61s/it]
  5%|▍         | 43/900 [03:17<47:43,  3.34s/it]  
  5%|▍         | 44/900 [03:17<34:56,  2.45s/it]
  5%|▌         | 45/900 [03:18<26:05,  1.83s/it]
  5%|▌         | 46/900 [03:18<19:50,  1.39s/it]
  5%|▌         | 47/900 [03:18<15:24,  1.08s/it]
  5%|▌         | 48/900 [03:19<12:17,  1.16it/s]
  5%|▌         | 49/900 [03:35<1:17:57,  5.50s/it]
  6%|▌         | 50/900 [03:35<55:56,  3.95s/it]  
  6%|▌         | 51/900 [03:36<40:32,  2.87s/it]
  6%|▌         | 52/900 [03:36<29:51,  2.11s/it]
  6%|▌         | 53/900 [03:36<22:21,  1.58s/it]
  6%|▌         | 54/900 [03:37<17:07,  1.21s/it]
  6%|▌         | 55/900 [03:37<13:28,  1.05it/s]
  6%|▌         | 56/900 [03:37<10:54,  1.29it/s]
  6%|▋         | 57/900 [04:52<5:20:26, 22.81s/it]
  6%|▋         | 58/900 [04:52<3:45:30, 16.07s/it]
  7%|▋         | 59/900 [04:52<2:39:07, 11.35s/it]
  7%|▋         | 60/900 [04:53<1:52:43,  8.05s/it]
  7%|▋         | 61/900 [04:53<1:20:13,  5.74s/it]
  7%|▋         | 62/900 [04:53<57:30,  4.12s/it]  
  7%|▋         | 63/900 [04:54<41:38,  2.98s/it]
  7%|▋         | 64/900 [04:54<30:32,  2.19s/it]
  7%|▋         | 65/900 [05:07<1:16:15,  5.48s/it]
  7%|▋         | 66/900 [05:07<54:46,  3.94s/it]  
  7%|▋         | 67/900 [05:08<39:40,  2.86s/it]
  8%|▊         | 68/900 [05:08<29:10,  2.10s/it]
  8%|▊         | 69/900 [05:08<21:51,  1.58s/it]
  8%|▊         | 70/900 [05:09<16:40,  1.21s/it]
  8%|▊         | 71/900 [05:09<13:01,  1.06it/s]
  8%|▊         | 72/900 [05:09<10:30,  1.31it/s]
  8%|▊         | 73/900 [05:23<1:03:19,  4.59s/it]
  8%|▊         | 74/900 [05:23<45:39,  3.32s/it]  
  8%|▊         | 75/900 [05:24<33:17,  2.42s/it]
  8%|▊         | 76/900 [05:24<24:39,  1.79s/it]
  9%|▊         | 77/900 [05:24<18:37,  1.36s/it]
  9%|▊         | 78/900 [05:25<14:27,  1.06s/it]
  9%|▉         | 79/900 [05:25<11:32,  1.19it/s]
  9%|▉         | 80/900 [05:25<09:30,  1.44it/s]
  9%|▉         | 81/900 [05:39<1:00:54,  4.46s/it]
  9%|▉         | 82/900 [05:39<43:58,  3.23s/it]  
  9%|▉         | 83/900 [05:39<32:07,  2.36s/it]
  9%|▉         | 84/900 [05:40<23:51,  1.75s/it]
  9%|▉         | 85/900 [05:40<18:03,  1.33s/it]
 10%|▉         | 86/900 [05:40<14:02,  1.03s/it]
 10%|▉         | 87/900 [05:41<11:10,  1.21it/s]
 10%|▉         | 88/900 [05:41<09:10,  1.48it/s]
 10%|▉         | 89/900 [06:11<2:08:00,  9.47s/it]
 10%|█         | 90/900 [06:11<1:30:52,  6.73s/it]
 10%|█         | 91/900 [06:12<1:04:57,  4.82s/it]
 10%|█         | 92/900 [06:12<46:46,  3.47s/it]  
 10%|█         | 93/900 [06:12<34:05,  2.53s/it]
 10%|█         | 94/900 [06:13<25:08,  1.87s/it]
 11%|█         | 95/900 [06:13<18:54,  1.41s/it]
 11%|█         | 96/900 [06:13<14:33,  1.09s/it]
 11%|█         | 97/900 [06:41<1:59:52,  8.96s/it]
 11%|█         | 98/900 [06:41<1:25:16,  6.38s/it]
 11%|█         | 99/900 [06:41<1:01:05,  4.58s/it]
 11%|█         | 100/900 [06:42<44:10,  3.31s/it] 
 11%|█         | 101/900 [06:42<32:21,  2.43s/it]
 11%|█▏        | 102/900 [06:43<24:05,  1.81s/it]
 11%|█▏        | 103/900 [06:43<18:16,  1.38s/it]
 12%|█▏        | 104/900 [06:43<14:12,  1.07s/it]
 12%|█▏        | 105/900 [06:57<1:05:38,  4.95s/it]
 12%|█▏        | 106/900 [06:58<47:20,  3.58s/it]  
 12%|█▏        | 107/900 [06:58<34:33,  2.61s/it]
 12%|█▏        | 108/900 [06:58<25:49,  1.96s/it]
 12%|█▏        | 109/900 [06:59<19:29,  1.48s/it]
 12%|█▏        | 110/900 [06:59<15:03,  1.14s/it]
 12%|█▏        | 111/900 [07:00<11:59,  1.10it/s]
 12%|█▏        | 112/900 [07:00<09:50,  1.33it/s]
 13%|█▎        | 113/900 [07:16<1:08:35,  5.23s/it]
 13%|█▎        | 114/900 [07:16<49:17,  3.76s/it]  
 13%|█▎        | 115/900 [07:16<35:48,  2.74s/it]
 13%|█▎        | 116/900 [07:17<26:24,  2.02s/it]
 13%|█▎        | 117/900 [07:17<19:49,  1.52s/it]
 13%|█▎        | 118/900 [07:17<15:14,  1.17s/it]
 13%|█▎        | 119/900 [07:18<12:00,  1.08it/s]
 13%|█▎        | 120/900 [07:18<09:45,  1.33it/s]
 13%|█▎        | 121/900 [07:58<2:41:04, 12.41s/it]
 14%|█▎        | 122/900 [07:58<1:53:57,  8.79s/it]
 14%|█▎        | 123/900 [07:58<1:21:00,  6.26s/it]
 14%|█▍        | 124/900 [07:59<57:58,  4.48s/it]  
 14%|█▍        | 125/900 [07:59<41:51,  3.24s/it]
 14%|█▍        | 126/900 [07:59<30:35,  2.37s/it]
 14%|█▍        | 127/900 [08:00<22:43,  1.76s/it]
 14%|█▍        | 128/900 [08:00<17:13,  1.34s/it]
 14%|█▍        | 129/900 [08:11<56:07,  4.37s/it]
 14%|█▍        | 130/900 [08:12<40:39,  3.17s/it]
 15%|█▍        | 131/900 [08:12<30:18,  2.36s/it]
 15%|█▍        | 132/900 [08:13<22:30,  1.76s/it]
 15%|█▍        | 133/900 [08:13<17:02,  1.33s/it]
 15%|█▍        | 134/900 [08:13<13:17,  1.04s/it]
 15%|█▌        | 135/900 [08:14<10:38,  1.20it/s]
 15%|█▌        | 136/900 [08:14<08:48,  1.45it/s]
 15%|█▌        | 137/900 [08:37<1:34:35,  7.44s/it]
 15%|█▌        | 138/900 [08:38<1:07:26,  5.31s/it]
 15%|█▌        | 139/900 [08:38<48:27,  3.82s/it]  
 16%|█▌        | 140/900 [08:38<35:13,  2.78s/it]
 16%|█▌        | 141/900 [08:39<25:58,  2.05s/it]
 16%|█▌        | 142/900 [08:39<19:28,  1.54s/it]
 16%|█▌        | 143/900 [08:39<14:55,  1.18s/it]
 16%|█▌        | 144/900 [08:40<11:46,  1.07it/s]
 16%|█▌        | 145/900 [08:58<1:16:55,  6.11s/it]
 16%|█▌        | 146/900 [08:58<55:05,  4.38s/it]  
 16%|█▋        | 147/900 [08:59<39:47,  3.17s/it]
 16%|█▋        | 148/900 [08:59<29:07,  2.32s/it]
 17%|█▋        | 149/900 [08:59<21:46,  1.74s/it]
 17%|█▋        | 150/900 [09:00<16:32,  1.32s/it]
 17%|█▋        | 151/900 [09:00<12:52,  1.03s/it]
 17%|█▋        | 152/900 [09:00<10:18,  1.21it/s]
 17%|█▋        | 153/900 [09:25<1:37:27,  7.83s/it]
 17%|█▋        | 154/900 [09:25<1:09:27,  5.59s/it]
 17%|█▋        | 155/900 [09:25<49:51,  4.02s/it]  
 17%|█▋        | 156/900 [09:26<36:16,  2.92s/it]
 17%|█▋        | 157/900 [09:26<26:44,  2.16s/it]
 18%|█▊        | 158/900 [09:26<20:02,  1.62s/it]
 18%|█▊        | 159/900 [09:27<15:18,  1.24s/it]
 18%|█▊        | 160/900 [09:27<12:05,  1.02it/s]
 18%|█▊        | 161/900 [09:58<2:02:12,  9.92s/it]
 18%|█▊        | 162/900 [09:58<1:26:46,  7.05s/it]
 18%|█▊        | 163/900 [09:59<1:01:59,  5.05s/it]
 18%|█▊        | 164/900 [09:59<44:38,  3.64s/it]  
 18%|█▊        | 165/900 [09:59<32:31,  2.66s/it]
 18%|█▊        | 166/900 [10:00<24:00,  1.96s/it]
 19%|█▊        | 167/900 [10:00<18:03,  1.48s/it]
 19%|█▊        | 168/900 [10:00<13:52,  1.14s/it]
 19%|█▉        | 169/900 [10:14<1:00:55,  5.00s/it]
 19%|█▉        | 170/900 [10:15<43:51,  3.61s/it]  
 19%|█▉        | 171/900 [10:15<31:55,  2.63s/it]
 19%|█▉        | 172/900 [10:15<23:36,  1.95s/it]
 19%|█▉        | 173/900 [10:16<17:46,  1.47s/it]
 19%|█▉        | 174/900 [10:16<13:41,  1.13s/it]
 19%|█▉        | 175/900 [10:16<10:49,  1.12it/s]
 20%|█▉        | 176/900 [10:17<08:49,  1.37it/s]
 20%|█▉        | 177/900 [10:41<1:34:41,  7.86s/it]
 20%|█▉        | 178/900 [10:42<1:07:29,  5.61s/it]
 20%|█▉        | 179/900 [10:42<48:32,  4.04s/it]  
 20%|██        | 180/900 [10:42<35:16,  2.94s/it]
 20%|██        | 181/900 [10:43<26:01,  2.17s/it]
 20%|██        | 182/900 [10:43<19:29,  1.63s/it]
 20%|██        | 183/900 [10:44<14:55,  1.25s/it]
 20%|██        | 184/900 [10:44<11:45,  1.01it/s]
 21%|██        | 185/900 [10:59<1:03:19,  5.31s/it]
 21%|██        | 186/900 [11:00<45:35,  3.83s/it]  
 21%|██        | 187/900 [11:00<33:12,  2.79s/it]
 21%|██        | 188/900 [11:00<24:34,  2.07s/it]
 21%|██        | 189/900 [11:01<18:28,  1.56s/it]
 21%|██        | 190/900 [11:01<14:12,  1.20s/it]
 21%|██        | 191/900 [11:01<11:07,  1.06it/s]
 21%|██▏       | 192/900 [11:02<08:58,  1.32it/s]
 21%|██▏       | 193/900 [11:42<2:29:22, 12.68s/it]
 22%|██▏       | 194/900 [11:43<1:45:38,  8.98s/it]
 22%|██▏       | 195/900 [11:43<1:15:01,  6.39s/it]
 22%|██▏       | 196/900 [11:43<53:37,  4.57s/it]  
 22%|██▏       | 197/900 [11:44<38:40,  3.30s/it]
 22%|██▏       | 198/900 [11:44<28:13,  2.41s/it]
 22%|██▏       | 199/900 [11:44<20:54,  1.79s/it]
 22%|██▏       | 200/900 [11:45<15:46,  1.35s/it]
 22%|██▏       | 201/900 [12:03<1:13:22,  6.30s/it]
 22%|██▏       | 202/900 [12:03<52:26,  4.51s/it]  
 23%|██▎       | 203/900 [12:03<37:48,  3.25s/it]
 23%|██▎       | 204/900 [12:04<27:36,  2.38s/it]
 23%|██▎       | 205/900 [12:04<20:30,  1.77s/it]
 23%|██▎       | 206/900 [12:04<15:31,  1.34s/it]
 23%|██▎       | 207/900 [12:05<12:04,  1.05s/it]
 23%|██▎       | 208/900 [12:05<09:40,  1.19it/s]
 23%|██▎       | 209/900 [12:26<1:18:44,  6.84s/it]
 23%|██▎       | 210/900 [12:26<56:12,  4.89s/it]  
 23%|██▎       | 211/900 [12:26<40:30,  3.53s/it]
 24%|██▎       | 212/900 [12:27<29:28,  2.57s/it]
 24%|██▎       | 213/900 [12:27<21:46,  1.90s/it]
 24%|██▍       | 214/900 [12:27<16:22,  1.43s/it]
 24%|██▍       | 215/900 [12:28<12:38,  1.11s/it]
 24%|██▍       | 216/900 [12:28<09:58,  1.14it/s]
 24%|██▍       | 217/900 [12:47<1:12:22,  6.36s/it]
 24%|██▍       | 218/900 [12:48<51:44,  4.55s/it]  
 24%|██▍       | 219/900 [12:48<37:18,  3.29s/it]
 24%|██▍       | 220/900 [12:48<27:12,  2.40s/it]
 25%|██▍       | 221/900 [12:49<20:08,  1.78s/it]
 25%|██▍       | 222/900 [12:49<15:11,  1.34s/it]
 25%|██▍       | 223/900 [12:49<11:44,  1.04s/it]
 25%|██▍       | 224/900 [12:50<09:19,  1.21it/s]
 25%|██▌       | 225/900 [13:10<1:13:57,  6.57s/it]
 25%|██▌       | 226/900 [13:10<52:54,  4.71s/it]  
 25%|██▌       | 227/900 [13:10<38:12,  3.41s/it]
 25%|██▌       | 228/900 [13:11<27:54,  2.49s/it]
 25%|██▌       | 229/900 [13:11<20:43,  1.85s/it]
 26%|██▌       | 230/900 [13:11<15:42,  1.41s/it]
 26%|██▌       | 231/900 [13:12<12:10,  1.09s/it]
 26%|██▌       | 232/900 [13:12<09:42,  1.15it/s]
 26%|██▌       | 233/900 [13:29<1:02:36,  5.63s/it]
 26%|██▌       | 234/900 [13:29<45:01,  4.06s/it]  
 26%|██▌       | 235/900 [13:30<32:40,  2.95s/it]
 26%|██▌       | 236/900 [13:30<24:01,  2.17s/it]
 26%|██▋       | 237/900 [13:30<18:01,  1.63s/it]
 26%|██▋       | 238/900 [13:31<13:54,  1.26s/it]
 27%|██▋       | 239/900 [13:31<10:57,  1.01it/s]
 27%|██▋       | 240/900 [13:31<08:53,  1.24it/s]
 27%|██▋       | 241/900 [13:53<1:16:07,  6.93s/it]
 27%|██▋       | 242/900 [13:53<54:28,  4.97s/it]  
 27%|██▋       | 243/900 [13:53<39:18,  3.59s/it]
 27%|██▋       | 244/900 [13:54<28:43,  2.63s/it]
 27%|██▋       | 245/900 [13:54<21:20,  1.96s/it]
 27%|██▋       | 246/900 [13:55<16:09,  1.48s/it]
 27%|██▋       | 247/900 [13:55<12:33,  1.15s/it]
 28%|██▊       | 248/900 [13:55<10:01,  1.08it/s]
 28%|██▊       | 249/900 [14:14<1:06:30,  6.13s/it]
 28%|██▊       | 250/900 [14:14<47:41,  4.40s/it]  
 28%|██▊       | 251/900 [14:14<34:31,  3.19s/it]
 28%|██▊       | 252/900 [14:15<25:20,  2.35s/it]
 28%|██▊       | 253/900 [14:15<18:53,  1.75s/it]
 28%|██▊       | 254/900 [14:16<14:23,  1.34s/it]
 28%|██▊       | 255/900 [14:16<11:15,  1.05s/it]
 28%|██▊       | 256/900 [14:16<09:02,  1.19it/s]
 29%|██▊       | 257/900 [14:43<1:33:04,  8.68s/it]
 29%|██▊       | 258/900 [14:44<1:06:15,  6.19s/it]
 29%|██▉       | 259/900 [14:44<47:31,  4.45s/it]  
 29%|██▉       | 260/900 [14:44<34:27,  3.23s/it]
 29%|██▉       | 261/900 [14:45<25:16,  2.37s/it]
 29%|██▉       | 262/900 [14:45<18:53,  1.78s/it]
 29%|██▉       | 263/900 [14:46<14:24,  1.36s/it]
 29%|██▉       | 264/900 [14:46<11:17,  1.07s/it]
 29%|██▉       | 265/900 [15:03<1:01:33,  5.82s/it]
 30%|██▉       | 266/900 [15:03<44:12,  4.18s/it]  
 30%|██▉       | 267/900 [15:04<32:06,  3.04s/it]
 30%|██▉       | 268/900 [15:04<23:40,  2.25s/it]
 30%|██▉       | 269/900 [15:04<17:46,  1.69s/it]
 30%|███       | 270/900 [15:05<13:39,  1.30s/it]
 30%|███       | 271/900 [15:05<10:46,  1.03s/it]
 30%|███       | 272/900 [15:06<08:46,  1.19it/s]
 30%|███       | 273/900 [15:27<1:12:37,  6.95s/it]
 30%|███       | 274/900 [15:27<51:54,  4.98s/it]  
 31%|███       | 275/900 [15:27<37:25,  3.59s/it]
 31%|███       | 276/900 [15:28<27:18,  2.63s/it]
 31%|███       | 277/900 [15:28<20:13,  1.95s/it]
 31%|███       | 278/900 [15:29<15:15,  1.47s/it]
 31%|███       | 279/900 [15:29<11:47,  1.14s/it]
 31%|███       | 280/900 [15:29<09:22,  1.10it/s]
 31%|███       | 281/900 [15:56<1:27:54,  8.52s/it]
 31%|███▏      | 282/900 [15:56<1:02:39,  6.08s/it]
 31%|███▏      | 283/900 [15:56<44:57,  4.37s/it]  
 32%|███▏      | 284/900 [15:57<32:37,  3.18s/it]
 32%|███▏      | 285/900 [15:57<24:03,  2.35s/it]
 32%|███▏      | 286/900 [15:58<17:58,  1.76s/it]
 32%|███▏      | 287/900 [15:58<13:44,  1.34s/it]
 32%|███▏      | 288/900 [15:58<10:47,  1.06s/it]
 32%|███▏      | 288/900 [16:16<34:35,  3.39s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json.
+OneBottleInSquarePailTask_0 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_0, run: 0, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: True, episode_step: 289, duration: 19.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.972688534005674, 'joint_sparc_mean': -6.938201469906005, 'ee_isj': 1131.7513971916692, 'joint_isj': 150143.34299299898, 'ee_path_length': 2.100205860413295, 'joint_rmse_mean': 1.1377200008869117, 'ee_speed_max': 0.4941873252391815, 'ee_speed_mean': 0.10519706457853317}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 880.911, 'policy_inference_avg_ms': 3048.1, 'env_step_s': 92.969, 'env_step_avg_ms': 321.7, 'video_write_s': 2.75, 'video_write_avg_ms': 9.5, 'wall_total_s': 976.63, 'it_per_sec': 0.3}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: edbb6e931b20495b99a9f517ecb3b1b9-0
+[RoboLab] Running OneBottleInSquarePailTask_1: 'Put any white plastic bottle in the square pail' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:58<14:39:39, 58.71s/it]
  0%|          | 2/900 [00:59<6:04:50, 24.38s/it] 
  0%|          | 3/900 [00:59<3:20:19, 13.40s/it]
  0%|          | 4/900 [00:59<2:03:02,  8.24s/it]
  1%|          | 5/900 [01:00<1:20:22,  5.39s/it]
  1%|          | 6/900 [01:00<54:41,  3.67s/it]  
  1%|          | 7/900 [01:00<38:22,  2.58s/it]
  1%|          | 8/900 [01:01<27:42,  1.86s/it]
  1%|          | 9/900 [01:25<2:11:01,  8.82s/it]
  1%|          | 10/900 [01:25<1:31:59,  6.20s/it]
  1%|          | 11/900 [01:25<1:05:15,  4.40s/it]
  1%|▏         | 12/900 [01:26<46:51,  3.17s/it]  
  1%|▏         | 13/900 [01:26<34:06,  2.31s/it]
  2%|▏         | 14/900 [01:26<25:16,  1.71s/it]
  2%|▏         | 15/900 [01:27<19:06,  1.30s/it]
  2%|▏         | 16/900 [01:27<14:50,  1.01s/it]
  2%|▏         | 17/900 [02:10<3:22:46, 13.78s/it]
  2%|▏         | 18/900 [02:11<2:23:08,  9.74s/it]
  2%|▏         | 19/900 [02:11<1:41:30,  6.91s/it]
  2%|▏         | 20/900 [02:11<1:12:25,  4.94s/it]
  2%|▏         | 21/900 [02:12<52:11,  3.56s/it]  
  2%|▏         | 22/900 [02:12<37:59,  2.60s/it]
  3%|▎         | 23/900 [02:13<28:02,  1.92s/it]
  3%|▎         | 24/900 [02:13<21:09,  1.45s/it]
  3%|▎         | 25/900 [02:47<2:44:34, 11.29s/it]
  3%|▎         | 26/900 [02:47<1:56:41,  8.01s/it]
  3%|▎         | 27/900 [02:48<1:23:12,  5.72s/it]
  3%|▎         | 28/900 [02:48<59:46,  4.11s/it]  
  3%|▎         | 29/900 [02:49<43:23,  2.99s/it]
  3%|▎         | 30/900 [02:49<31:59,  2.21s/it]
  3%|▎         | 31/900 [02:49<24:00,  1.66s/it]
  4%|▎         | 32/900 [02:50<18:24,  1.27s/it]
  4%|▎         | 33/900 [03:24<2:41:42, 11.19s/it]
  4%|▍         | 34/900 [03:24<1:54:42,  7.95s/it]
  4%|▍         | 35/900 [03:25<1:21:41,  5.67s/it]
  4%|▍         | 36/900 [03:25<58:37,  4.07s/it]  
  4%|▍         | 37/900 [03:25<42:29,  2.95s/it]
  4%|▍         | 38/900 [03:26<31:11,  2.17s/it]
  4%|▍         | 39/900 [03:26<23:15,  1.62s/it]
  4%|▍         | 40/900 [03:26<17:41,  1.23s/it]
  5%|▍         | 41/900 [03:37<56:30,  3.95s/it]
  5%|▍         | 42/900 [03:37<41:00,  2.87s/it]
  5%|▍         | 43/900 [03:37<30:11,  2.11s/it]
  5%|▍         | 44/900 [03:38<22:37,  1.59s/it]
  5%|▌         | 45/900 [03:38<17:14,  1.21s/it]
  5%|▌         | 46/900 [03:38<13:28,  1.06it/s]
  5%|▌         | 47/900 [03:39<10:59,  1.29it/s]
  5%|▌         | 48/900 [03:39<09:18,  1.52it/s]
  5%|▌         | 49/900 [04:29<3:37:50, 15.36s/it]
  6%|▌         | 50/900 [04:29<2:33:52, 10.86s/it]
  6%|▌         | 51/900 [04:30<1:49:06,  7.71s/it]
  6%|▌         | 52/900 [04:30<1:17:49,  5.51s/it]
  6%|▌         | 53/900 [04:30<55:57,  3.96s/it]  
  6%|▌         | 54/900 [04:31<40:40,  2.88s/it]
  6%|▌         | 55/900 [04:31<29:56,  2.13s/it]
  6%|▌         | 56/900 [04:31<22:29,  1.60s/it]
  6%|▋         | 57/900 [04:47<1:20:51,  5.75s/it]
  6%|▋         | 58/900 [04:47<57:54,  4.13s/it]  
  7%|▋         | 59/900 [04:48<41:53,  2.99s/it]
  7%|▋         | 60/900 [04:48<30:43,  2.19s/it]
  7%|▋         | 61/900 [04:48<22:52,  1.64s/it]
  7%|▋         | 62/900 [04:49<17:25,  1.25s/it]
  7%|▋         | 63/900 [04:49<13:34,  1.03it/s]
  7%|▋         | 64/900 [04:49<10:53,  1.28it/s]
  7%|▋         | 65/900 [05:12<1:40:56,  7.25s/it]
  7%|▋         | 66/900 [05:12<1:12:01,  5.18s/it]
  7%|▋         | 67/900 [05:12<51:45,  3.73s/it]  
  8%|▊         | 68/900 [05:13<37:38,  2.71s/it]
  8%|▊         | 69/900 [05:13<27:42,  2.00s/it]
  8%|▊         | 70/900 [05:13<20:44,  1.50s/it]
  8%|▊         | 71/900 [05:14<15:58,  1.16s/it]
  8%|▊         | 72/900 [05:14<12:40,  1.09it/s]
  8%|▊         | 73/900 [05:48<2:29:15, 10.83s/it]
  8%|▊         | 74/900 [05:48<1:45:45,  7.68s/it]
  8%|▊         | 75/900 [05:49<1:15:19,  5.48s/it]
  8%|▊         | 76/900 [05:49<54:02,  3.93s/it]  
  9%|▊         | 77/900 [05:49<39:11,  2.86s/it]
  9%|▊         | 78/900 [05:50<28:48,  2.10s/it]
  9%|▉         | 79/900 [05:50<21:43,  1.59s/it]
  9%|▉         | 80/900 [05:50<16:45,  1.23s/it]
  9%|▉         | 81/900 [06:22<2:20:01, 10.26s/it]
  9%|▉         | 82/900 [06:22<1:39:15,  7.28s/it]
  9%|▉         | 83/900 [06:22<1:10:50,  5.20s/it]
  9%|▉         | 84/900 [06:23<51:01,  3.75s/it]  
  9%|▉         | 85/900 [06:23<37:10,  2.74s/it]
 10%|▉         | 86/900 [06:24<27:28,  2.03s/it]
 10%|▉         | 87/900 [06:24<20:41,  1.53s/it]
 10%|▉         | 88/900 [06:24<15:56,  1.18s/it]
 10%|▉         | 89/900 [06:57<2:22:15, 10.52s/it]
 10%|█         | 90/900 [06:57<1:40:55,  7.48s/it]
 10%|█         | 91/900 [06:57<1:12:02,  5.34s/it]
 10%|█         | 92/900 [06:58<51:46,  3.84s/it]  
 10%|█         | 93/900 [06:58<37:31,  2.79s/it]
 10%|█         | 94/900 [06:58<27:32,  2.05s/it]
 11%|█         | 95/900 [06:59<20:33,  1.53s/it]
 11%|█         | 96/900 [06:59<15:40,  1.17s/it]
 11%|█         | 97/900 [07:13<1:06:26,  4.96s/it]
 11%|█         | 98/900 [07:13<47:47,  3.58s/it]  
 11%|█         | 99/900 [07:13<34:46,  2.60s/it]
 11%|█         | 100/900 [07:14<25:36,  1.92s/it]
 11%|█         | 101/900 [07:14<19:11,  1.44s/it]
 11%|█▏        | 102/900 [07:14<14:42,  1.11s/it]
 11%|█▏        | 103/900 [07:15<11:35,  1.15it/s]
 12%|█▏        | 104/900 [07:15<09:24,  1.41it/s]
 12%|█▏        | 105/900 [07:40<1:44:29,  7.89s/it]
 12%|█▏        | 106/900 [07:40<1:14:23,  5.62s/it]
 12%|█▏        | 107/900 [07:40<53:18,  4.03s/it]  
 12%|█▏        | 108/900 [07:41<38:36,  2.93s/it]
 12%|█▏        | 109/900 [07:41<28:16,  2.14s/it]
 12%|█▏        | 110/900 [07:41<21:02,  1.60s/it]
 12%|█▏        | 111/900 [07:42<15:59,  1.22s/it]
 12%|█▏        | 112/900 [07:42<12:31,  1.05it/s]
 13%|█▎        | 113/900 [08:00<1:21:06,  6.18s/it]
 13%|█▎        | 114/900 [08:01<58:01,  4.43s/it]  
 13%|█▎        | 115/900 [08:01<41:53,  3.20s/it]
 13%|█▎        | 116/900 [08:01<30:37,  2.34s/it]
 13%|█▎        | 117/900 [08:02<22:45,  1.74s/it]
 13%|█▎        | 118/900 [08:02<17:14,  1.32s/it]
 13%|█▎        | 119/900 [08:02<13:25,  1.03s/it]
 13%|█▎        | 120/900 [08:03<10:49,  1.20it/s]
 13%|█▎        | 121/900 [08:29<1:48:54,  8.39s/it]
 14%|█▎        | 122/900 [08:29<1:17:31,  5.98s/it]
 14%|█▎        | 123/900 [08:30<55:34,  4.29s/it]  
 14%|█▍        | 124/900 [08:30<40:14,  3.11s/it]
 14%|█▍        | 125/900 [08:30<29:32,  2.29s/it]
 14%|█▍        | 126/900 [08:31<22:04,  1.71s/it]
 14%|█▍        | 127/900 [08:31<16:51,  1.31s/it]
 14%|█▍        | 128/900 [08:31<13:12,  1.03s/it]
 14%|█▍        | 129/900 [08:49<1:18:41,  6.12s/it]
 14%|█▍        | 130/900 [08:50<56:26,  4.40s/it]  
 15%|█▍        | 131/900 [08:50<40:52,  3.19s/it]
 15%|█▍        | 132/900 [08:51<29:58,  2.34s/it]
 15%|█▍        | 133/900 [08:51<22:22,  1.75s/it]
 15%|█▍        | 134/900 [08:51<17:02,  1.34s/it]
 15%|█▌        | 135/900 [08:52<13:18,  1.04s/it]
 15%|█▌        | 136/900 [08:52<10:44,  1.19it/s]
 15%|█▌        | 137/900 [09:20<1:53:30,  8.93s/it]
 15%|█▌        | 138/900 [09:20<1:20:48,  6.36s/it]
 15%|█▌        | 139/900 [09:21<57:54,  4.57s/it]  
 16%|█▌        | 140/900 [09:21<41:51,  3.30s/it]
 16%|█▌        | 141/900 [09:21<30:39,  2.42s/it]
 16%|█▌        | 142/900 [09:22<22:52,  1.81s/it]
 16%|█▌        | 143/900 [09:22<17:23,  1.38s/it]
 16%|█▌        | 144/900 [09:22<13:30,  1.07s/it]
 16%|█▌        | 145/900 [09:48<1:45:58,  8.42s/it]
 16%|█▌        | 146/900 [09:48<1:15:28,  6.01s/it]
 16%|█▋        | 147/900 [09:49<54:09,  4.31s/it]  
 16%|█▋        | 148/900 [09:49<39:15,  3.13s/it]
 17%|█▋        | 149/900 [09:49<28:50,  2.30s/it]
 17%|█▋        | 150/900 [09:50<22:12,  1.78s/it]
 17%|█▋        | 151/900 [09:50<16:48,  1.35s/it]
 17%|█▋        | 152/900 [09:51<13:00,  1.04s/it]
 17%|█▋        | 153/900 [10:20<1:58:11,  9.49s/it]
 17%|█▋        | 154/900 [10:20<1:23:54,  6.75s/it]
 17%|█▋        | 155/900 [10:21<59:55,  4.83s/it]  
 17%|█▋        | 156/900 [10:21<43:08,  3.48s/it]
 17%|█▋        | 157/900 [10:21<31:24,  2.54s/it]
 18%|█▊        | 158/900 [10:22<23:17,  1.88s/it]
 18%|█▊        | 159/900 [10:22<17:35,  1.43s/it]
 18%|█▊        | 160/900 [10:22<13:47,  1.12s/it]
 18%|█▊        | 161/900 [11:14<3:19:57, 16.23s/it]
 18%|█▊        | 162/900 [11:14<2:21:03, 11.47s/it]
 18%|█▊        | 163/900 [11:15<1:39:50,  8.13s/it]
 18%|█▊        | 164/900 [11:15<1:11:00,  5.79s/it]
 18%|█▊        | 165/900 [11:15<50:51,  4.15s/it]  
 18%|█▊        | 166/900 [11:16<36:46,  3.01s/it]
 19%|█▊        | 167/900 [11:16<26:55,  2.20s/it]
 19%|█▊        | 168/900 [11:16<20:03,  1.64s/it]
 19%|█▉        | 169/900 [12:00<2:52:27, 14.16s/it]
 19%|█▉        | 170/900 [12:00<2:01:44, 10.01s/it]
 19%|█▉        | 171/900 [12:00<1:26:18,  7.10s/it]
 19%|█▉        | 172/900 [12:01<1:01:33,  5.07s/it]
 19%|█▉        | 173/900 [12:01<44:17,  3.66s/it]  
 19%|█▉        | 174/900 [12:01<32:13,  2.66s/it]
 19%|█▉        | 175/900 [12:02<23:45,  1.97s/it]
 20%|█▉        | 176/900 [12:02<17:50,  1.48s/it]
 20%|█▉        | 177/900 [12:27<1:43:09,  8.56s/it]
 20%|█▉        | 178/900 [12:27<1:13:20,  6.10s/it]
 20%|█▉        | 179/900 [12:28<52:29,  4.37s/it]  
 20%|██        | 180/900 [12:28<37:54,  3.16s/it]
 20%|██        | 181/900 [12:28<27:43,  2.31s/it]
 20%|██        | 182/900 [12:29<20:36,  1.72s/it]
 20%|██        | 183/900 [12:29<15:38,  1.31s/it]
 20%|██        | 184/900 [12:29<12:09,  1.02s/it]
 21%|██        | 185/900 [12:56<1:44:35,  8.78s/it]
 21%|██        | 186/900 [12:57<1:14:17,  6.24s/it]
 21%|██        | 187/900 [12:57<53:07,  4.47s/it]  
 21%|██        | 188/900 [12:57<38:20,  3.23s/it]
 21%|██        | 189/900 [12:58<28:00,  2.36s/it]
 21%|██        | 190/900 [12:58<20:46,  1.76s/it]
 21%|██        | 191/900 [12:58<15:43,  1.33s/it]
 21%|██▏       | 192/900 [12:59<12:11,  1.03s/it]
 21%|██▏       | 193/900 [13:12<54:11,  4.60s/it]
 22%|██▏       | 194/900 [13:12<39:05,  3.32s/it]
 22%|██▏       | 195/900 [13:12<28:31,  2.43s/it]
 22%|██▏       | 196/900 [13:13<21:09,  1.80s/it]
 22%|██▏       | 197/900 [13:13<16:03,  1.37s/it]
 22%|██▏       | 198/900 [13:13<12:29,  1.07s/it]
 22%|██▏       | 199/900 [13:14<10:00,  1.17it/s]
 22%|██▏       | 200/900 [13:14<08:15,  1.41it/s]
 22%|██▏       | 201/900 [13:30<1:02:30,  5.37s/it]
 22%|██▏       | 202/900 [13:31<44:56,  3.86s/it]  
 23%|██▎       | 203/900 [13:31<32:39,  2.81s/it]
 23%|██▎       | 204/900 [13:31<24:00,  2.07s/it]
 23%|██▎       | 205/900 [13:32<17:57,  1.55s/it]
 23%|██▎       | 206/900 [13:32<13:45,  1.19s/it]
 23%|██▎       | 207/900 [13:32<10:52,  1.06it/s]
 23%|██▎       | 208/900 [13:33<08:51,  1.30it/s]
 23%|██▎       | 209/900 [13:49<1:03:00,  5.47s/it]
 23%|██▎       | 210/900 [13:50<45:10,  3.93s/it]  
 23%|██▎       | 211/900 [13:50<32:42,  2.85s/it]
 24%|██▎       | 212/900 [13:50<24:00,  2.09s/it]
 24%|██▎       | 213/900 [13:51<17:56,  1.57s/it]
 24%|██▍       | 214/900 [13:51<13:45,  1.20s/it]
 24%|██▍       | 215/900 [13:51<10:50,  1.05it/s]
 24%|██▍       | 216/900 [13:52<08:49,  1.29it/s]
 24%|██▍       | 217/900 [14:19<1:38:44,  8.67s/it]
 24%|██▍       | 218/900 [14:19<1:10:14,  6.18s/it]
 24%|██▍       | 219/900 [14:19<50:15,  4.43s/it]  
 24%|██▍       | 220/900 [14:20<36:14,  3.20s/it]
 25%|██▍       | 221/900 [14:20<26:27,  2.34s/it]
 25%|██▍       | 222/900 [14:20<19:36,  1.74s/it]
 25%|██▍       | 223/900 [14:21<14:49,  1.31s/it]
 25%|██▍       | 224/900 [14:21<11:28,  1.02s/it]
 25%|██▌       | 225/900 [14:40<1:13:16,  6.51s/it]
 25%|██▌       | 226/900 [14:41<52:20,  4.66s/it]  
 25%|██▌       | 227/900 [14:41<37:44,  3.36s/it]
 25%|██▌       | 228/900 [14:41<27:32,  2.46s/it]
 25%|██▌       | 229/900 [14:42<20:21,  1.82s/it]
 26%|██▌       | 230/900 [14:42<15:20,  1.37s/it]
 26%|██▌       | 231/900 [14:42<11:53,  1.07s/it]
 26%|██▌       | 232/900 [14:43<09:30,  1.17it/s]
 26%|██▌       | 233/900 [14:59<1:02:11,  5.59s/it]
 26%|██▌       | 234/900 [15:00<44:39,  4.02s/it]  
 26%|██▌       | 235/900 [15:00<32:23,  2.92s/it]
 26%|██▌       | 236/900 [15:00<23:47,  2.15s/it]
 26%|██▋       | 237/900 [15:01<17:48,  1.61s/it]
 26%|██▋       | 238/900 [15:01<13:38,  1.24s/it]
 27%|██▋       | 239/900 [15:02<10:42,  1.03it/s]
 27%|██▋       | 240/900 [15:02<08:40,  1.27it/s]
 27%|██▋       | 241/900 [15:27<1:29:16,  8.13s/it]
 27%|██▋       | 242/900 [15:28<1:03:35,  5.80s/it]
 27%|██▋       | 243/900 [15:28<45:38,  4.17s/it]  
 27%|██▋       | 244/900 [15:28<33:05,  3.03s/it]
 27%|██▋       | 245/900 [15:29<24:13,  2.22s/it]
 27%|██▋       | 246/900 [15:29<17:59,  1.65s/it]
 27%|██▋       | 247/900 [15:29<13:39,  1.26s/it]
 28%|██▊       | 248/900 [15:30<10:37,  1.02it/s]
 28%|██▊       | 249/900 [16:06<2:04:56, 11.52s/it]
 28%|██▊       | 250/900 [16:06<1:28:23,  8.16s/it]
 28%|██▊       | 251/900 [16:06<1:02:50,  5.81s/it]
 28%|██▊       | 252/900 [16:07<45:00,  4.17s/it]  
 28%|██▊       | 253/900 [16:07<32:29,  3.01s/it]
 28%|██▊       | 254/900 [16:07<23:46,  2.21s/it]
 28%|██▊       | 255/900 [16:08<17:39,  1.64s/it]
 28%|██▊       | 256/900 [16:08<13:23,  1.25s/it]
 29%|██▊       | 257/900 [16:30<1:21:09,  7.57s/it]
 29%|██▊       | 258/900 [16:31<57:46,  5.40s/it]  
 29%|██▉       | 259/900 [16:31<41:24,  3.88s/it]
 29%|██▉       | 260/900 [16:31<29:59,  2.81s/it]
 29%|██▉       | 261/900 [16:32<22:01,  2.07s/it]
 29%|██▉       | 262/900 [16:32<16:26,  1.55s/it]
 29%|██▉       | 263/900 [16:32<12:33,  1.18s/it]
 29%|██▉       | 264/900 [16:33<09:50,  1.08it/s]
 29%|██▉       | 265/900 [16:50<1:02:41,  5.92s/it]
 30%|██▉       | 266/900 [16:51<44:51,  4.25s/it]  
 30%|██▉       | 267/900 [16:51<32:25,  3.07s/it]
 30%|██▉       | 268/900 [16:51<23:41,  2.25s/it]
 30%|██▉       | 269/900 [16:52<17:35,  1.67s/it]
 30%|███       | 270/900 [16:52<13:19,  1.27s/it]
 30%|███       | 271/900 [16:52<10:20,  1.01it/s]
 30%|███       | 272/900 [16:53<08:15,  1.27it/s]
 30%|███       | 273/900 [17:13<1:09:09,  6.62s/it]
 30%|███       | 274/900 [17:13<49:22,  4.73s/it]  
 31%|███       | 275/900 [17:13<35:32,  3.41s/it]
 31%|███       | 276/900 [17:14<25:52,  2.49s/it]
 31%|███       | 277/900 [17:14<19:09,  1.84s/it]
 31%|███       | 278/900 [17:14<14:28,  1.40s/it]
 31%|███       | 279/900 [17:15<11:12,  1.08s/it]
 31%|███       | 280/900 [17:15<08:55,  1.16it/s]
 31%|███       | 281/900 [17:40<1:23:07,  8.06s/it]
 31%|███▏      | 282/900 [17:40<59:12,  5.75s/it]  
 31%|███▏      | 283/900 [17:41<42:32,  4.14s/it]
 32%|███▏      | 284/900 [17:41<30:52,  3.01s/it]
 32%|███▏      | 285/900 [17:41<22:41,  2.21s/it]
 32%|███▏      | 286/900 [17:42<16:58,  1.66s/it]
 32%|███▏      | 287/900 [17:42<12:58,  1.27s/it]
 32%|███▏      | 288/900 [17:43<10:11,  1.00it/s]
 32%|███▏      | 289/900 [17:59<56:59,  5.60s/it]
 32%|███▏      | 290/900 [17:59<40:57,  4.03s/it]
 32%|███▏      | 291/900 [18:00<29:43,  2.93s/it]
 32%|███▏      | 292/900 [18:00<21:52,  2.16s/it]
 33%|███▎      | 293/900 [18:00<16:23,  1.62s/it]
 33%|███▎      | 294/900 [18:01<12:32,  1.24s/it]
 33%|███▎      | 295/900 [18:01<09:53,  1.02it/s]
 33%|███▎      | 296/900 [18:01<08:00,  1.26it/s]
 33%|███▎      | 297/900 [18:42<2:07:39, 12.70s/it]
 33%|███▎      | 298/900 [18:42<1:30:20,  9.00s/it]
 33%|███▎      | 299/900 [18:43<1:04:15,  6.42s/it]
 33%|███▎      | 300/900 [18:43<46:02,  4.60s/it]  
 33%|███▎      | 301/900 [18:43<33:19,  3.34s/it]
 34%|███▎      | 302/900 [18:44<24:24,  2.45s/it]
 34%|███▎      | 303/900 [18:44<18:09,  1.83s/it]
 34%|███▍      | 304/900 [18:45<13:48,  1.39s/it]
 34%|███▍      | 305/900 [19:02<1:01:47,  6.23s/it]
 34%|███▍      | 306/900 [19:02<44:18,  4.48s/it]  
 34%|███▍      | 307/900 [19:03<32:01,  3.24s/it]
 34%|███▍      | 308/900 [19:03<23:26,  2.38s/it]
 34%|███▍      | 309/900 [19:03<17:26,  1.77s/it]
 34%|███▍      | 310/900 [19:04<13:15,  1.35s/it]
 35%|███▍      | 311/900 [19:04<10:20,  1.05s/it]
 35%|███▍      | 312/900 [19:05<08:16,  1.18it/s]
 35%|███▍      | 313/900 [19:39<1:46:21, 10.87s/it]
 35%|███▍      | 314/900 [19:39<1:15:22,  7.72s/it]
 35%|███▌      | 315/900 [19:40<53:44,  5.51s/it]  
 35%|███▌      | 316/900 [19:40<38:36,  3.97s/it]
 35%|███▌      | 317/900 [19:40<28:00,  2.88s/it]
 35%|███▌      | 318/900 [19:41<20:38,  2.13s/it]
 35%|███▌      | 319/900 [19:41<15:27,  1.60s/it]
 36%|███▌      | 320/900 [19:41<11:49,  1.22s/it]
 36%|███▌      | 320/900 [20:02<36:18,  3.76s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json.
+OneBottleInSquarePailTask_1 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_1, run: 1, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: True, episode_step: 321, duration: 21.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.003173747131623, 'joint_sparc_mean': -9.651485945763028, 'ee_isj': 2324.550168358034, 'joint_isj': 101643.03232742735, 'ee_path_length': 3.0308801764205358, 'joint_rmse_mean': 1.1112034660715868, 'ee_speed_max': 0.3847673237323761, 'ee_speed_mean': 0.1369549036026001}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 4, 'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 1098.705, 'policy_inference_avg_ms': 3422.8, 'env_step_s': 100.594, 'env_step_avg_ms': 313.4, 'video_write_s': 2.651, 'video_write_avg_ms': 8.3, 'wall_total_s': 1201.95, 'it_per_sec': 0.27}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 8df016c5f985496ab03241dbfbc2a342-1
+[RoboLab] Running OneBottleInSquarePailTask_2: 'Put any white plastic bottle in the square pail' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:57<14:15:52, 57.12s/it]
  0%|          | 2/900 [00:57<5:55:01, 23.72s/it] 
  0%|          | 3/900 [00:57<3:15:00, 13.04s/it]
  0%|          | 4/900 [00:58<1:59:51,  8.03s/it]
  1%|          | 5/900 [00:58<1:18:19,  5.25s/it]
  1%|          | 6/900 [00:58<53:18,  3.58s/it]  
  1%|          | 7/900 [00:59<37:26,  2.52s/it]
  1%|          | 8/900 [00:59<27:02,  1.82s/it]
  1%|          | 9/900 [01:32<2:52:46, 11.63s/it]
  1%|          | 10/900 [01:32<2:00:48,  8.14s/it]
  1%|          | 11/900 [01:33<1:25:14,  5.75s/it]
  1%|▏         | 12/900 [01:33<1:00:42,  4.10s/it]
  1%|▏         | 13/900 [01:33<43:45,  2.96s/it]  
  2%|▏         | 14/900 [01:34<32:00,  2.17s/it]
  2%|▏         | 15/900 [01:34<23:48,  1.61s/it]
  2%|▏         | 16/900 [01:34<18:06,  1.23s/it]
  2%|▏         | 17/900 [01:46<1:03:05,  4.29s/it]
  2%|▏         | 18/900 [01:46<45:34,  3.10s/it]  
  2%|▏         | 19/900 [01:47<33:19,  2.27s/it]
  2%|▏         | 20/900 [01:47<24:47,  1.69s/it]
  2%|▏         | 21/900 [01:47<18:46,  1.28s/it]
  2%|▏         | 22/900 [01:48<14:34,  1.00it/s]
  3%|▎         | 23/900 [01:48<11:38,  1.25it/s]
  3%|▎         | 24/900 [01:48<09:35,  1.52it/s]
  3%|▎         | 25/900 [02:02<1:06:37,  4.57s/it]
  3%|▎         | 26/900 [02:02<48:02,  3.30s/it]  
  3%|▎         | 27/900 [02:03<35:01,  2.41s/it]
  3%|▎         | 28/900 [02:03<25:57,  1.79s/it]
  3%|▎         | 29/900 [02:03<19:47,  1.36s/it]
  3%|▎         | 30/900 [02:04<15:25,  1.06s/it]
  3%|▎         | 31/900 [02:04<12:23,  1.17it/s]
  4%|▎         | 32/900 [02:04<10:19,  1.40it/s]
  4%|▎         | 33/900 [02:24<1:31:31,  6.33s/it]
  4%|▍         | 34/900 [02:24<1:05:34,  4.54s/it]
  4%|▍         | 35/900 [02:25<47:25,  3.29s/it]  
  4%|▍         | 36/900 [02:25<34:42,  2.41s/it]
  4%|▍         | 37/900 [02:25<25:51,  1.80s/it]
  4%|▍         | 38/900 [02:26<19:37,  1.37s/it]
  4%|▍         | 39/900 [02:26<15:17,  1.07s/it]
  4%|▍         | 40/900 [02:26<12:14,  1.17it/s]
  5%|▍         | 41/900 [02:41<1:13:22,  5.13s/it]
  5%|▍         | 42/900 [02:42<52:45,  3.69s/it]  
  5%|▍         | 43/900 [02:42<38:19,  2.68s/it]
  5%|▍         | 44/900 [02:43<28:14,  1.98s/it]
  5%|▌         | 45/900 [02:43<21:11,  1.49s/it]
  5%|▌         | 46/900 [02:43<16:13,  1.14s/it]
  5%|▌         | 47/900 [02:44<12:46,  1.11it/s]
  5%|▌         | 48/900 [02:44<10:20,  1.37it/s]
  5%|▌         | 49/900 [03:18<2:31:57, 10.71s/it]
  6%|▌         | 50/900 [03:18<1:47:40,  7.60s/it]
  6%|▌         | 51/900 [03:19<1:16:42,  5.42s/it]
  6%|▌         | 52/900 [03:19<55:06,  3.90s/it]  
  6%|▌         | 53/900 [03:19<40:00,  2.83s/it]
  6%|▌         | 54/900 [03:20<29:25,  2.09s/it]
  6%|▌         | 55/900 [03:20<22:04,  1.57s/it]
  6%|▌         | 56/900 [03:20<16:50,  1.20s/it]
  6%|▋         | 57/900 [03:33<1:06:07,  4.71s/it]
  6%|▋         | 58/900 [03:33<47:36,  3.39s/it]  
  7%|▋         | 59/900 [03:34<34:41,  2.47s/it]
  7%|▋         | 60/900 [03:34<25:41,  1.84s/it]
  7%|▋         | 61/900 [03:35<19:30,  1.40s/it]
  7%|▋         | 62/900 [03:35<15:11,  1.09s/it]
  7%|▋         | 63/900 [03:35<12:10,  1.15it/s]
  7%|▋         | 64/900 [03:36<10:03,  1.39it/s]
  7%|▋         | 65/900 [04:10<2:31:18, 10.87s/it]
  7%|▋         | 66/900 [04:11<1:47:24,  7.73s/it]
  7%|▋         | 67/900 [04:11<1:16:39,  5.52s/it]
  8%|▊         | 68/900 [04:11<55:09,  3.98s/it]  
  8%|▊         | 69/900 [04:12<40:10,  2.90s/it]
  8%|▊         | 70/900 [04:12<29:39,  2.14s/it]
  8%|▊         | 71/900 [04:12<22:15,  1.61s/it]
  8%|▊         | 72/900 [04:13<17:05,  1.24s/it]
  8%|▊         | 73/900 [04:40<2:03:19,  8.95s/it]
  8%|▊         | 74/900 [04:40<1:27:44,  6.37s/it]
  8%|▊         | 75/900 [04:41<1:02:55,  4.58s/it]
  8%|▊         | 76/900 [04:41<45:25,  3.31s/it]  
  9%|▊         | 77/900 [04:41<33:08,  2.42s/it]
  9%|▊         | 78/900 [04:42<24:31,  1.79s/it]
  9%|▉         | 79/900 [04:42<18:41,  1.37s/it]
  9%|▉         | 80/900 [04:42<14:38,  1.07s/it]
  9%|▉         | 81/900 [04:57<1:11:07,  5.21s/it]
  9%|▉         | 82/900 [04:58<51:14,  3.76s/it]  
  9%|▉         | 83/900 [04:58<37:22,  2.74s/it]
  9%|▉         | 84/900 [04:58<27:37,  2.03s/it]
  9%|▉         | 85/900 [04:59<20:49,  1.53s/it]
 10%|▉         | 86/900 [04:59<16:03,  1.18s/it]
 10%|▉         | 87/900 [04:59<12:43,  1.06it/s]
 10%|▉         | 88/900 [05:00<10:23,  1.30it/s]
 10%|▉         | 89/900 [05:43<3:04:25, 13.64s/it]
 10%|█         | 90/900 [05:44<2:10:27,  9.66s/it]
 10%|█         | 91/900 [05:44<1:32:40,  6.87s/it]
 10%|█         | 92/900 [05:45<1:06:14,  4.92s/it]
 10%|█         | 93/900 [05:45<47:46,  3.55s/it]  
 10%|█         | 94/900 [05:45<34:51,  2.60s/it]
 11%|█         | 95/900 [05:46<25:42,  1.92s/it]
 11%|█         | 96/900 [05:46<19:17,  1.44s/it]
 11%|█         | 97/900 [05:57<58:30,  4.37s/it]
 11%|█         | 98/900 [05:57<42:15,  3.16s/it]
 11%|█         | 99/900 [05:58<30:53,  2.31s/it]
 11%|█         | 100/900 [05:58<22:58,  1.72s/it]
 11%|█         | 101/900 [05:58<17:25,  1.31s/it]
 11%|█▏        | 102/900 [05:59<13:32,  1.02s/it]
 11%|█▏        | 103/900 [05:59<10:48,  1.23it/s]
 12%|█▏        | 104/900 [06:00<08:57,  1.48it/s]
 12%|█▏        | 105/900 [06:14<1:03:40,  4.81s/it]
 12%|█▏        | 106/900 [06:14<45:50,  3.46s/it]  
 12%|█▏        | 107/900 [06:15<33:23,  2.53s/it]
 12%|█▏        | 108/900 [06:15<24:40,  1.87s/it]
 12%|█▏        | 109/900 [06:15<18:37,  1.41s/it]
 12%|█▏        | 110/900 [06:16<14:20,  1.09s/it]
 12%|█▏        | 111/900 [06:16<11:21,  1.16it/s]
 12%|█▏        | 112/900 [06:16<09:18,  1.41it/s]
 13%|█▎        | 113/900 [06:29<58:08,  4.43s/it]
 13%|█▎        | 114/900 [06:30<42:00,  3.21s/it]
 13%|█▎        | 115/900 [06:30<30:54,  2.36s/it]
 13%|█▎        | 116/900 [06:31<22:54,  1.75s/it]
 13%|█▎        | 117/900 [06:31<17:19,  1.33s/it]
 13%|█▎        | 118/900 [06:31<13:24,  1.03s/it]
 13%|█▎        | 119/900 [06:32<10:39,  1.22it/s]
 13%|█▎        | 120/900 [06:32<08:45,  1.48it/s]
 13%|█▎        | 121/900 [06:49<1:13:33,  5.67s/it]
 14%|█▎        | 122/900 [06:50<52:47,  4.07s/it]  
 14%|█▎        | 123/900 [06:50<38:15,  2.95s/it]
 14%|█▍        | 124/900 [06:50<28:06,  2.17s/it]
 14%|█▍        | 125/900 [06:51<21:01,  1.63s/it]
 14%|█▍        | 126/900 [06:51<16:03,  1.25s/it]
 14%|█▍        | 127/900 [06:51<12:39,  1.02it/s]
 14%|█▍        | 128/900 [06:52<10:14,  1.26it/s]
 14%|█▍        | 129/900 [07:11<1:20:39,  6.28s/it]
 14%|█▍        | 130/900 [07:11<57:52,  4.51s/it]  
 15%|█▍        | 131/900 [07:12<41:57,  3.27s/it]
 15%|█▍        | 132/900 [07:12<30:51,  2.41s/it]
 15%|█▍        | 133/900 [07:12<23:07,  1.81s/it]
 15%|█▍        | 134/900 [07:13<17:40,  1.38s/it]
 15%|█▌        | 135/900 [07:13<13:49,  1.08s/it]
 15%|█▌        | 136/900 [07:13<11:12,  1.14it/s]
 15%|█▌        | 137/900 [07:28<1:03:19,  4.98s/it]
 15%|█▌        | 138/900 [07:28<45:43,  3.60s/it]  
 15%|█▌        | 139/900 [07:29<33:28,  2.64s/it]
 16%|█▌        | 140/900 [07:29<24:48,  1.96s/it]
 16%|█▌        | 141/900 [07:30<18:39,  1.47s/it]
 16%|█▌        | 142/900 [07:30<14:18,  1.13s/it]
 16%|█▌        | 143/900 [07:30<11:16,  1.12it/s]
 16%|█▌        | 144/900 [07:31<09:11,  1.37it/s]
 16%|█▌        | 145/900 [07:57<1:46:33,  8.47s/it]
 16%|█▌        | 146/900 [07:57<1:15:45,  6.03s/it]
 16%|█▋        | 147/900 [07:58<54:15,  4.32s/it]  
 16%|█▋        | 148/900 [07:58<39:13,  3.13s/it]
 17%|█▋        | 149/900 [07:58<28:45,  2.30s/it]
 17%|█▋        | 150/900 [07:59<21:27,  1.72s/it]
 17%|█▋        | 151/900 [07:59<16:18,  1.31s/it]
 17%|█▋        | 152/900 [07:59<12:39,  1.02s/it]
 17%|█▋        | 153/900 [08:12<56:20,  4.53s/it]
 17%|█▋        | 154/900 [08:13<40:39,  3.27s/it]
 17%|█▋        | 155/900 [08:13<29:41,  2.39s/it]
 17%|█▋        | 156/900 [08:13<22:00,  1.78s/it]
 17%|█▋        | 157/900 [08:14<16:38,  1.34s/it]
 18%|█▊        | 158/900 [08:14<12:51,  1.04s/it]
 18%|█▊        | 159/900 [08:14<10:13,  1.21it/s]
 18%|█▊        | 160/900 [08:15<08:33,  1.44it/s]
 18%|█▊        | 161/900 [08:38<1:31:19,  7.41s/it]
 18%|█▊        | 162/900 [08:38<1:05:09,  5.30s/it]
 18%|█▊        | 163/900 [08:38<46:52,  3.82s/it]  
 18%|█▊        | 164/900 [08:39<34:06,  2.78s/it]
 18%|█▊        | 165/900 [08:39<25:12,  2.06s/it]
 18%|█▊        | 166/900 [08:40<18:57,  1.55s/it]
 19%|█▊        | 167/900 [08:40<14:36,  1.20s/it]
 19%|█▊        | 168/900 [08:40<11:33,  1.06it/s]
 19%|█▉        | 169/900 [08:58<1:13:45,  6.05s/it]
 19%|█▉        | 170/900 [08:59<52:53,  4.35s/it]  
 19%|█▉        | 171/900 [08:59<38:20,  3.16s/it]
 19%|█▉        | 172/900 [08:59<28:11,  2.32s/it]
 19%|█▉        | 173/900 [09:00<21:03,  1.74s/it]
 19%|█▉        | 174/900 [09:00<16:03,  1.33s/it]
 19%|█▉        | 175/900 [09:01<12:45,  1.06s/it]
 20%|█▉        | 176/900 [09:01<10:16,  1.17it/s]
 20%|█▉        | 177/900 [09:32<1:57:54,  9.78s/it]
 20%|█▉        | 178/900 [09:32<1:23:45,  6.96s/it]
 20%|█▉        | 179/900 [09:32<59:53,  4.98s/it]  
 20%|██        | 180/900 [09:33<43:13,  3.60s/it]
 20%|██        | 181/900 [09:33<31:33,  2.63s/it]
 20%|██        | 182/900 [09:33<23:25,  1.96s/it]
 20%|██        | 183/900 [09:34<17:45,  1.49s/it]
 20%|██        | 184/900 [09:34<13:46,  1.15s/it]
 21%|██        | 185/900 [09:51<1:09:57,  5.87s/it]
 21%|██        | 186/900 [09:51<50:16,  4.23s/it]  
 21%|██        | 187/900 [09:52<36:30,  3.07s/it]
 21%|██        | 188/900 [09:52<26:52,  2.27s/it]
 21%|██        | 189/900 [09:53<20:08,  1.70s/it]
 21%|██        | 190/900 [09:53<15:27,  1.31s/it]
 21%|██        | 191/900 [09:53<12:08,  1.03s/it]
 21%|██▏       | 192/900 [09:54<09:48,  1.20it/s]
 21%|██▏       | 193/900 [10:14<1:17:05,  6.54s/it]
 22%|██▏       | 194/900 [10:14<55:11,  4.69s/it]  
 22%|██▏       | 195/900 [10:14<39:55,  3.40s/it]
 22%|██▏       | 196/900 [10:15<29:11,  2.49s/it]
 22%|██▏       | 197/900 [10:15<21:41,  1.85s/it]
 22%|██▏       | 198/900 [10:15<16:27,  1.41s/it]
 22%|██▏       | 199/900 [10:16<12:47,  1.09s/it]
 22%|██▏       | 200/900 [10:16<10:13,  1.14it/s]
 22%|██▏       | 200/900 [10:32<36:55,  3.16s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json.
+OneBottleInSquarePailTask_2 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_2, run: 2, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: True, episode_step: 201, duration: 13.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.741355165556141, 'joint_sparc_mean': -7.573155008895618, 'ee_isj': 940.2118166135939, 'joint_isj': 19173.08514729691, 'ee_path_length': 1.675110820758039, 'joint_rmse_mean': 1.1654819756701866, 'ee_speed_max': 0.3932696282863617, 'ee_speed_mean': 0.1194959208369255}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 566.476, 'policy_inference_avg_ms': 2818.3, 'env_step_s': 64.283, 'env_step_avg_ms': 319.8, 'video_write_s': 2.063, 'video_write_avg_ms': 10.3, 'wall_total_s': 632.822, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: e1f08ce7f4aa41a89401d85aca3630fa-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T16:42:12Z [6,885,751ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.204857 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T16:42:14Z [6,888,300ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T16:42:14Z [6,888,422ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:42:14Z [6,888,422ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:42:14Z [6,888,431ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:42:14Z [6,888,431ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:42:14Z [6,888,439ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:42:15Z [6,888,447ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T16:42:15Z [6,888,895ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((660))' not available in the MDL representation.
+2026-11-03T16:42:15Z [6,888,895ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((660))' not available in the MDL representation.
+2026-11-03T16:42:16Z [6,889,655ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((660))' not available in the MDL representation.
+2026-11-03T16:42:16Z [6,889,655ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((660))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.817061 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananasInBinThreeTotalTask                    │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure there are 3 (three) bananas in the grey bin. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananasInBinThreeTotalTaskSceneEnvCfg         │
+│  Attributes  : semantics, counting, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananasInBinThreeTotalTask_0: 'Make sure there are 3 (three) bananas in the grey bin.' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:15<18:52:40, 75.60s/it]
  0%|          | 2/900 [01:15<7:48:50, 31.33s/it] 
  0%|          | 3/900 [01:16<4:16:28, 17.16s/it]
  0%|          | 4/900 [01:16<2:36:46, 10.50s/it]
  1%|          | 5/900 [01:16<1:41:42,  6.82s/it]
  1%|          | 6/900 [01:17<1:08:41,  4.61s/it]
  1%|          | 7/900 [01:17<47:39,  3.20s/it]  
  1%|          | 8/900 [01:17<33:54,  2.28s/it]
  1%|          | 9/900 [01:36<1:51:26,  7.50s/it]
  1%|          | 10/900 [01:37<1:18:27,  5.29s/it]
  1%|          | 11/900 [01:37<55:42,  3.76s/it]  
  1%|▏         | 12/900 [01:37<40:05,  2.71s/it]
  1%|▏         | 13/900 [01:37<29:15,  1.98s/it]
  2%|▏         | 14/900 [01:38<21:50,  1.48s/it]
  2%|▏         | 15/900 [01:38<16:32,  1.12s/it]
  2%|▏         | 16/900 [01:38<12:51,  1.15it/s]
  2%|▏         | 17/900 [01:50<59:37,  4.05s/it]
  2%|▏         | 18/900 [01:50<43:08,  2.93s/it]
  2%|▏         | 19/900 [01:50<31:25,  2.14s/it]
  2%|▏         | 20/900 [01:51<23:22,  1.59s/it]
  2%|▏         | 21/900 [01:51<17:38,  1.20s/it]
  2%|▏         | 22/900 [01:51<13:38,  1.07it/s]
  3%|▎         | 23/900 [01:52<10:58,  1.33it/s]
  3%|▎         | 24/900 [01:52<09:06,  1.60it/s]
  3%|▎         | 25/900 [02:19<2:03:51,  8.49s/it]
  3%|▎         | 26/900 [02:19<1:27:59,  6.04s/it]
  3%|▎         | 27/900 [02:19<1:02:48,  4.32s/it]
  3%|▎         | 28/900 [02:20<45:11,  3.11s/it]  
  3%|▎         | 29/900 [02:20<32:59,  2.27s/it]
  3%|▎         | 30/900 [02:20<24:27,  1.69s/it]
  3%|▎         | 31/900 [02:21<18:33,  1.28s/it]
  4%|▎         | 32/900 [02:21<14:23,  1.01it/s]
  4%|▎         | 33/900 [02:32<55:59,  3.87s/it]
  4%|▍         | 34/900 [02:32<40:24,  2.80s/it]
  4%|▍         | 35/900 [02:33<32:12,  2.23s/it]
  4%|▍         | 36/900 [02:33<23:54,  1.66s/it]
  4%|▍         | 37/900 [02:33<18:01,  1.25s/it]
  4%|▍         | 38/900 [02:34<14:01,  1.02it/s]
  4%|▍         | 39/900 [02:34<11:08,  1.29it/s]
  4%|▍         | 40/900 [02:34<09:09,  1.57it/s]
  5%|▍         | 41/900 [02:44<48:06,  3.36s/it]
  5%|▍         | 42/900 [02:44<34:56,  2.44s/it]
  5%|▍         | 43/900 [02:45<25:44,  1.80s/it]
  5%|▍         | 44/900 [02:45<19:22,  1.36s/it]
  5%|▌         | 45/900 [02:45<14:53,  1.05s/it]
  5%|▌         | 46/900 [02:46<11:40,  1.22it/s]
  5%|▌         | 47/900 [02:46<09:28,  1.50it/s]
  5%|▌         | 48/900 [02:46<07:59,  1.78it/s]
  5%|▌         | 49/900 [03:13<1:58:26,  8.35s/it]
  6%|▌         | 50/900 [03:13<1:24:16,  5.95s/it]
  6%|▌         | 51/900 [03:14<1:00:13,  4.26s/it]
  6%|▌         | 52/900 [03:14<43:27,  3.07s/it]  
  6%|▌         | 53/900 [03:14<31:44,  2.25s/it]
  6%|▌         | 54/900 [03:14<23:37,  1.68s/it]
  6%|▌         | 55/900 [03:15<17:48,  1.26s/it]
  6%|▌         | 56/900 [03:15<13:45,  1.02it/s]
  6%|▋         | 57/900 [03:31<1:15:17,  5.36s/it]
  6%|▋         | 58/900 [03:31<54:04,  3.85s/it]  
  7%|▋         | 59/900 [03:31<39:13,  2.80s/it]
  7%|▋         | 60/900 [03:32<28:50,  2.06s/it]
  7%|▋         | 61/900 [03:32<21:36,  1.54s/it]
  7%|▋         | 62/900 [03:32<16:32,  1.18s/it]
  7%|▋         | 63/900 [03:33<12:53,  1.08it/s]
  7%|▋         | 64/900 [03:33<10:27,  1.33it/s]
  7%|▋         | 65/900 [03:48<1:09:11,  4.97s/it]
  7%|▋         | 66/900 [03:48<49:45,  3.58s/it]  
  7%|▋         | 67/900 [03:49<36:09,  2.60s/it]
  8%|▊         | 68/900 [03:49<26:30,  1.91s/it]
  8%|▊         | 69/900 [03:49<19:51,  1.43s/it]
  8%|▊         | 70/900 [03:49<15:11,  1.10s/it]
  8%|▊         | 71/900 [03:50<11:55,  1.16it/s]
  8%|▊         | 72/900 [03:50<09:38,  1.43it/s]
  8%|▊         | 73/900 [04:08<1:20:21,  5.83s/it]
  8%|▊         | 74/900 [04:08<57:29,  4.18s/it]  
  8%|▊         | 75/900 [04:09<41:31,  3.02s/it]
  8%|▊         | 76/900 [04:09<30:22,  2.21s/it]
  9%|▊         | 77/900 [04:09<22:32,  1.64s/it]
  9%|▊         | 78/900 [04:09<17:00,  1.24s/it]
  9%|▉         | 79/900 [04:10<13:23,  1.02it/s]
  9%|▉         | 80/900 [04:10<10:48,  1.26it/s]
  9%|▉         | 81/900 [04:26<1:12:03,  5.28s/it]
  9%|▉         | 82/900 [04:26<51:59,  3.81s/it]  
  9%|▉         | 83/900 [04:27<37:47,  2.78s/it]
  9%|▉         | 84/900 [04:27<27:46,  2.04s/it]
  9%|▉         | 85/900 [04:27<20:51,  1.54s/it]
 10%|▉         | 86/900 [04:28<15:56,  1.17s/it]
 10%|▉         | 87/900 [04:28<12:25,  1.09it/s]
 10%|▉         | 88/900 [04:28<09:59,  1.35it/s]
 10%|▉         | 89/900 [04:43<1:07:56,  5.03s/it]
 10%|█         | 90/900 [04:44<48:58,  3.63s/it]  
 10%|█         | 91/900 [04:44<35:38,  2.64s/it]
 10%|█         | 92/900 [04:44<26:22,  1.96s/it]
 10%|█         | 93/900 [04:45<19:51,  1.48s/it]
 10%|█         | 94/900 [04:45<15:18,  1.14s/it]
 11%|█         | 95/900 [04:45<12:04,  1.11it/s]
 11%|█         | 96/900 [04:46<09:44,  1.38it/s]
 11%|█         | 97/900 [05:03<1:16:26,  5.71s/it]
 11%|█         | 98/900 [05:04<54:53,  4.11s/it]  
 11%|█         | 99/900 [05:04<39:44,  2.98s/it]
 11%|█         | 100/900 [05:04<29:07,  2.18s/it]
 11%|█         | 101/900 [05:05<21:45,  1.63s/it]
 11%|█▏        | 102/900 [05:05<16:31,  1.24s/it]
 11%|█▏        | 103/900 [05:05<12:55,  1.03it/s]
 12%|█▏        | 104/900 [05:06<10:23,  1.28it/s]
 12%|█▏        | 105/900 [05:23<1:14:37,  5.63s/it]
 12%|█▏        | 106/900 [05:23<53:25,  4.04s/it]  
 12%|█▏        | 107/900 [05:23<38:44,  2.93s/it]
 12%|█▏        | 108/900 [05:24<28:27,  2.16s/it]
 12%|█▏        | 109/900 [05:24<21:11,  1.61s/it]
 12%|█▏        | 110/900 [05:24<16:12,  1.23s/it]
 12%|█▏        | 111/900 [05:25<12:42,  1.03it/s]
 12%|█▏        | 112/900 [05:25<10:15,  1.28it/s]
 13%|█▎        | 113/900 [06:03<2:35:55, 11.89s/it]
 13%|█▎        | 114/900 [06:03<1:50:20,  8.42s/it]
 13%|█▎        | 115/900 [06:03<1:18:26,  6.00s/it]
 13%|█▎        | 116/900 [06:04<56:11,  4.30s/it]  
 13%|█▎        | 117/900 [06:04<40:36,  3.11s/it]
 13%|█▎        | 118/900 [06:04<29:41,  2.28s/it]
 13%|█▎        | 119/900 [06:05<22:04,  1.70s/it]
 13%|█▎        | 120/900 [06:05<16:46,  1.29s/it]
 13%|█▎        | 121/900 [06:25<1:31:17,  7.03s/it]
 14%|█▎        | 122/900 [06:26<1:05:05,  5.02s/it]
 14%|█▎        | 123/900 [06:26<46:43,  3.61s/it]  
 14%|█▍        | 124/900 [06:26<33:59,  2.63s/it]
 14%|█▍        | 125/900 [06:27<25:07,  1.94s/it]
 14%|█▍        | 126/900 [06:27<18:55,  1.47s/it]
 14%|█▍        | 127/900 [06:28<14:36,  1.13s/it]
 14%|█▍        | 128/900 [06:28<11:30,  1.12it/s]
 14%|█▍        | 129/900 [06:55<1:53:27,  8.83s/it]
 14%|█▍        | 130/900 [06:56<1:20:38,  6.28s/it]
 15%|█▍        | 131/900 [06:56<57:36,  4.49s/it]  
 15%|█▍        | 132/900 [06:56<41:30,  3.24s/it]
 15%|█▍        | 133/900 [06:57<30:17,  2.37s/it]
 15%|█▍        | 134/900 [06:57<22:30,  1.76s/it]
 15%|█▌        | 135/900 [06:57<17:05,  1.34s/it]
 15%|█▌        | 136/900 [06:58<13:17,  1.04s/it]
 15%|█▌        | 137/900 [07:18<1:27:00,  6.84s/it]
 15%|█▌        | 138/900 [07:18<1:02:07,  4.89s/it]
 15%|█▌        | 139/900 [07:19<44:38,  3.52s/it]  
 16%|█▌        | 140/900 [07:19<32:24,  2.56s/it]
 16%|█▌        | 141/900 [07:19<23:56,  1.89s/it]
 16%|█▌        | 142/900 [07:20<17:53,  1.42s/it]
 16%|█▌        | 143/900 [07:20<13:45,  1.09s/it]
 16%|█▌        | 144/900 [07:20<10:54,  1.15it/s]
 16%|█▌        | 145/900 [07:39<1:19:50,  6.35s/it]
 16%|█▌        | 146/900 [07:40<57:04,  4.54s/it]  
 16%|█▋        | 147/900 [07:40<41:08,  3.28s/it]
 16%|█▋        | 148/900 [07:40<30:00,  2.39s/it]
 17%|█▋        | 149/900 [07:41<22:15,  1.78s/it]
 17%|█▋        | 150/900 [07:41<16:48,  1.34s/it]
 17%|█▋        | 151/900 [07:41<13:01,  1.04s/it]
 17%|█▋        | 152/900 [07:42<10:21,  1.20it/s]
 17%|█▋        | 153/900 [08:04<1:31:11,  7.32s/it]
 17%|█▋        | 154/900 [08:05<1:04:59,  5.23s/it]
 17%|█▋        | 155/900 [08:05<46:40,  3.76s/it]  
 17%|█▋        | 156/900 [08:05<33:53,  2.73s/it]
 17%|█▋        | 157/900 [08:06<24:59,  2.02s/it]
 18%|█▊        | 158/900 [08:06<18:39,  1.51s/it]
 18%|█▊        | 159/900 [08:06<14:13,  1.15s/it]
 18%|█▊        | 160/900 [08:07<11:13,  1.10it/s]
 18%|█▊        | 161/900 [08:25<1:17:00,  6.25s/it]
 18%|█▊        | 162/900 [08:26<55:05,  4.48s/it]  
 18%|█▊        | 163/900 [08:26<39:50,  3.24s/it]
 18%|█▊        | 164/900 [08:26<29:12,  2.38s/it]
 18%|█▊        | 165/900 [08:27<21:34,  1.76s/it]
 18%|█▊        | 166/900 [08:27<16:22,  1.34s/it]
 19%|█▊        | 167/900 [08:27<12:40,  1.04s/it]
 19%|█▊        | 168/900 [08:28<10:10,  1.20it/s]
 19%|█▉        | 169/900 [09:04<2:19:18, 11.43s/it]
 19%|█▉        | 170/900 [09:04<1:38:35,  8.10s/it]
 19%|█▉        | 171/900 [09:05<1:10:11,  5.78s/it]
 19%|█▉        | 172/900 [09:05<50:19,  4.15s/it]  
 19%|█▉        | 173/900 [09:05<36:24,  3.00s/it]
 19%|█▉        | 174/900 [09:06<26:37,  2.20s/it]
 19%|█▉        | 175/900 [09:06<19:47,  1.64s/it]
 20%|█▉        | 176/900 [09:06<15:03,  1.25s/it]
 20%|█▉        | 177/900 [09:23<1:09:30,  5.77s/it]
 20%|█▉        | 178/900 [09:23<49:49,  4.14s/it]  
 20%|█▉        | 179/900 [09:23<36:03,  3.00s/it]
 20%|██        | 180/900 [09:24<26:19,  2.19s/it]
 20%|██        | 181/900 [09:24<19:37,  1.64s/it]
 20%|██        | 182/900 [09:24<14:51,  1.24s/it]
 20%|██        | 183/900 [09:25<11:38,  1.03it/s]
 20%|██        | 184/900 [09:25<09:23,  1.27it/s]
 21%|██        | 185/900 [09:52<1:44:27,  8.77s/it]
 21%|██        | 186/900 [09:53<1:14:16,  6.24s/it]
 21%|██        | 187/900 [09:53<53:13,  4.48s/it]  
 21%|██        | 188/900 [09:53<38:27,  3.24s/it]
 21%|██        | 189/900 [09:54<28:02,  2.37s/it]
 21%|██        | 190/900 [09:54<20:50,  1.76s/it]
 21%|██        | 191/900 [09:54<15:47,  1.34s/it]
 21%|██▏       | 192/900 [09:55<12:18,  1.04s/it]
 21%|██▏       | 193/900 [10:27<2:02:39, 10.41s/it]
 22%|██▏       | 194/900 [10:27<1:26:56,  7.39s/it]
 22%|██▏       | 195/900 [10:28<1:01:59,  5.28s/it]
 22%|██▏       | 196/900 [10:28<44:32,  3.80s/it]  
 22%|██▏       | 197/900 [10:28<32:19,  2.76s/it]
 22%|██▏       | 198/900 [10:29<23:40,  2.02s/it]
 22%|██▏       | 199/900 [10:29<17:43,  1.52s/it]
 22%|██▏       | 200/900 [10:29<13:35,  1.16s/it]
 22%|██▏       | 201/900 [10:48<1:15:17,  6.46s/it]
 22%|██▏       | 202/900 [10:48<53:44,  4.62s/it]  
 23%|██▎       | 203/900 [10:49<38:47,  3.34s/it]
 23%|██▎       | 204/900 [10:49<28:14,  2.43s/it]
 23%|██▎       | 205/900 [10:49<20:56,  1.81s/it]
 23%|██▎       | 206/900 [10:50<15:49,  1.37s/it]
 23%|██▎       | 207/900 [10:50<12:18,  1.07s/it]
 23%|██▎       | 208/900 [10:51<09:49,  1.17it/s]
 23%|██▎       | 209/900 [11:32<2:30:57, 13.11s/it]
 23%|██▎       | 210/900 [11:33<1:46:42,  9.28s/it]
 23%|██▎       | 211/900 [11:33<1:15:41,  6.59s/it]
 24%|██▎       | 212/900 [11:33<54:08,  4.72s/it]  
 24%|██▎       | 213/900 [11:34<38:56,  3.40s/it]
 24%|██▍       | 214/900 [11:34<28:21,  2.48s/it]
 24%|██▍       | 215/900 [11:34<20:59,  1.84s/it]
 24%|██▍       | 216/900 [11:35<15:58,  1.40s/it]
 24%|██▍       | 217/900 [12:05<1:56:16, 10.21s/it]
 24%|██▍       | 218/900 [12:06<1:22:23,  7.25s/it]
 24%|██▍       | 219/900 [12:06<58:43,  5.17s/it]  
 24%|██▍       | 220/900 [12:06<42:07,  3.72s/it]
 25%|██▍       | 221/900 [12:07<30:42,  2.71s/it]
 25%|██▍       | 222/900 [12:07<22:33,  2.00s/it]
 25%|██▍       | 223/900 [12:07<16:58,  1.50s/it]
 25%|██▍       | 224/900 [12:08<13:04,  1.16s/it]
 25%|██▌       | 225/900 [13:02<3:13:25, 17.19s/it]
 25%|██▌       | 226/900 [13:03<2:16:24, 12.14s/it]
 25%|██▌       | 227/900 [13:03<1:36:27,  8.60s/it]
 25%|██▌       | 228/900 [13:03<1:08:34,  6.12s/it]
 25%|██▌       | 229/900 [13:04<49:03,  4.39s/it]  
 26%|██▌       | 230/900 [13:04<35:32,  3.18s/it]
 26%|██▌       | 231/900 [13:05<26:00,  2.33s/it]
 26%|██▌       | 232/900 [13:05<19:18,  1.73s/it]
 26%|██▌       | 233/900 [13:26<1:22:55,  7.46s/it]
 26%|██▌       | 234/900 [13:26<59:01,  5.32s/it]  
 26%|██▌       | 235/900 [13:26<42:27,  3.83s/it]
 26%|██▌       | 236/900 [13:27<30:50,  2.79s/it]
 26%|██▋       | 237/900 [13:27<22:41,  2.05s/it]
 26%|██▋       | 238/900 [13:27<17:03,  1.55s/it]
 27%|██▋       | 239/900 [13:28<13:04,  1.19s/it]
 27%|██▋       | 240/900 [13:28<10:15,  1.07it/s]
 27%|██▋       | 241/900 [13:51<1:23:56,  7.64s/it]
 27%|██▋       | 242/900 [13:52<59:56,  5.47s/it]  
 27%|██▋       | 243/900 [13:52<42:59,  3.93s/it]
 27%|██▋       | 244/900 [13:52<31:09,  2.85s/it]
 27%|██▋       | 245/900 [13:53<23:00,  2.11s/it]
 27%|██▋       | 246/900 [13:53<17:11,  1.58s/it]
 27%|██▋       | 247/900 [13:54<13:16,  1.22s/it]
 28%|██▊       | 248/900 [13:54<10:24,  1.04it/s]
 28%|██▊       | 249/900 [15:04<3:55:03, 21.66s/it]
 28%|██▊       | 250/900 [15:04<2:45:25, 15.27s/it]
 28%|██▊       | 251/900 [15:05<1:56:41, 10.79s/it]
 28%|██▊       | 252/900 [15:05<1:22:45,  7.66s/it]
 28%|██▊       | 253/900 [15:05<58:58,  5.47s/it]  
 28%|██▊       | 254/900 [15:06<42:16,  3.93s/it]
 28%|██▊       | 255/900 [15:06<30:38,  2.85s/it]
 28%|██▊       | 256/900 [15:06<22:29,  2.10s/it]
 29%|██▊       | 257/900 [15:25<1:15:29,  7.04s/it]
 29%|██▊       | 258/900 [15:25<53:56,  5.04s/it]  
 29%|██▉       | 259/900 [15:26<38:48,  3.63s/it]
 29%|██▉       | 260/900 [15:26<28:14,  2.65s/it]
 29%|██▉       | 261/900 [15:26<20:47,  1.95s/it]
 29%|██▉       | 262/900 [15:27<15:44,  1.48s/it]
 29%|██▉       | 263/900 [15:27<12:13,  1.15s/it]
 29%|██▉       | 264/900 [15:27<09:38,  1.10it/s]
 29%|██▉       | 265/900 [15:46<1:07:10,  6.35s/it]
 30%|██▉       | 266/900 [15:47<48:03,  4.55s/it]  
 30%|██▉       | 267/900 [15:47<34:42,  3.29s/it]
 30%|██▉       | 268/900 [15:47<25:18,  2.40s/it]
 30%|██▉       | 269/900 [15:48<18:44,  1.78s/it]
 30%|███       | 270/900 [15:48<14:11,  1.35s/it]
 30%|███       | 271/900 [15:49<11:04,  1.06s/it]
 30%|███       | 272/900 [15:49<08:49,  1.19it/s]
 30%|███       | 273/900 [16:10<1:13:48,  7.06s/it]
 30%|███       | 274/900 [16:11<52:45,  5.06s/it]  
 31%|███       | 275/900 [16:11<37:55,  3.64s/it]
 31%|███       | 276/900 [16:11<27:33,  2.65s/it]
 31%|███       | 277/900 [16:12<20:26,  1.97s/it]
 31%|███       | 278/900 [16:12<15:21,  1.48s/it]
 31%|███       | 279/900 [16:13<11:48,  1.14s/it]
 31%|███       | 280/900 [16:13<09:26,  1.09it/s]
 31%|███       | 281/900 [16:40<1:30:52,  8.81s/it]
 31%|███▏      | 282/900 [16:41<1:04:41,  6.28s/it]
 31%|███▏      | 283/900 [16:41<46:21,  4.51s/it]  
 32%|███▏      | 284/900 [16:41<33:29,  3.26s/it]
 32%|███▏      | 285/900 [16:42<24:32,  2.39s/it]
 32%|███▏      | 286/900 [16:42<18:11,  1.78s/it]
 32%|███▏      | 287/900 [16:42<13:46,  1.35s/it]
 32%|███▏      | 288/900 [16:43<10:46,  1.06s/it]
 32%|███▏      | 289/900 [17:17<1:52:18, 11.03s/it]
 32%|███▏      | 290/900 [17:17<1:19:33,  7.82s/it]
 32%|███▏      | 291/900 [17:18<56:36,  5.58s/it]  
 32%|███▏      | 292/900 [17:18<40:34,  4.00s/it]
 33%|███▎      | 293/900 [17:18<29:28,  2.91s/it]
 33%|███▎      | 294/900 [17:19<21:37,  2.14s/it]
 33%|███▎      | 295/900 [17:19<16:14,  1.61s/it]
 33%|███▎      | 296/900 [17:19<12:27,  1.24s/it]
 33%|███▎      | 297/900 [17:44<1:21:15,  8.09s/it]
 33%|███▎      | 298/900 [17:44<57:48,  5.76s/it]  
 33%|███▎      | 299/900 [17:44<41:24,  4.13s/it]
 33%|███▎      | 300/900 [17:45<29:57,  3.00s/it]
 33%|███▎      | 301/900 [17:45<21:56,  2.20s/it]
 34%|███▎      | 302/900 [17:45<16:21,  1.64s/it]
 34%|███▎      | 303/900 [17:46<12:37,  1.27s/it]
 34%|███▍      | 304/900 [17:46<09:51,  1.01it/s]
 34%|███▍      | 305/900 [18:52<3:22:47, 20.45s/it]
 34%|███▍      | 306/900 [18:52<2:22:45, 14.42s/it]
 34%|███▍      | 307/900 [18:53<1:40:45, 10.19s/it]
 34%|███▍      | 308/900 [18:53<1:11:29,  7.25s/it]
 34%|███▍      | 309/900 [18:53<50:59,  5.18s/it]  
 34%|███▍      | 310/900 [18:54<37:05,  3.77s/it]
 35%|███▍      | 311/900 [18:54<27:27,  2.80s/it]
 35%|███▍      | 312/900 [18:55<20:15,  2.07s/it]
 35%|███▍      | 312/900 [19:15<36:17,  3.70s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json.
+BananasInBinThreeTotalTask_0 complete: task_name: BananasInBinThreeTotalTask, run_name: BananasInBinThreeTotalTask_0, run: 0, env_id: 0, policy: harness, instruction: Make sure there are 3 (three) bananas in the grey bin., attributes: ['semantics', 'counting', 'moderate'], success: True, episode_step: 313, duration: 20.866666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.157672999444085, 'joint_sparc_mean': -9.65309783867826, 'ee_isj': 21400.508654429308, 'joint_isj': 474390.361907349, 'ee_path_length': 4.786838282951042, 'joint_rmse_mean': 1.1403936067801934, 'ee_speed_max': 2.087690830230713, 'ee_speed_mean': 0.22290292382240295}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 3, 'OBJECT_BUMPED': 11, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['grey_bin']}, instruction_type: default, timing: {'policy_inference_s': 1056.665, 'policy_inference_avg_ms': 3375.9, 'env_step_s': 95.219, 'env_step_avg_ms': 304.2, 'video_write_s': 3.268, 'video_write_avg_ms': 10.4, 'wall_total_s': 1155.152, 'it_per_sec': 0.27}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 311c3c7ed493499890b136bb277f038a-0
+[RoboLab] Running BananasInBinThreeTotalTask_1: 'Make sure there are 3 (three) bananas in the grey bin.' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:01<15:14:59, 61.07s/it]
  0%|          | 2/900 [01:01<6:19:08, 25.33s/it] 
  0%|          | 3/900 [01:01<3:27:50, 13.90s/it]
  0%|          | 4/900 [01:02<2:07:30,  8.54s/it]
  1%|          | 5/900 [01:02<1:23:10,  5.58s/it]
  1%|          | 6/900 [01:02<56:20,  3.78s/it]  
  1%|          | 7/900 [01:02<39:20,  2.64s/it]
  1%|          | 8/900 [01:03<28:16,  1.90s/it]
  1%|          | 9/900 [01:23<1:51:44,  7.52s/it]
  1%|          | 10/900 [01:23<1:18:32,  5.30s/it]
  1%|          | 11/900 [01:23<55:50,  3.77s/it]  
  1%|▏         | 12/900 [01:24<40:15,  2.72s/it]
  1%|▏         | 13/900 [01:24<29:22,  1.99s/it]
  2%|▏         | 14/900 [01:24<21:57,  1.49s/it]
  2%|▏         | 15/900 [01:25<16:44,  1.13s/it]
  2%|▏         | 16/900 [01:25<12:59,  1.13it/s]
  2%|▏         | 17/900 [01:48<1:52:36,  7.65s/it]
  2%|▏         | 18/900 [01:49<1:20:07,  5.45s/it]
  2%|▏         | 19/900 [01:49<57:26,  3.91s/it]  
  2%|▏         | 20/900 [01:49<41:26,  2.83s/it]
  2%|▏         | 21/900 [01:49<30:15,  2.07s/it]
  2%|▏         | 22/900 [01:50<22:39,  1.55s/it]
  3%|▎         | 23/900 [01:50<17:23,  1.19s/it]
  3%|▎         | 24/900 [01:50<13:30,  1.08it/s]
  3%|▎         | 25/900 [02:03<1:02:40,  4.30s/it]
  3%|▎         | 26/900 [02:03<45:14,  3.11s/it]  
  3%|▎         | 27/900 [02:03<33:03,  2.27s/it]
  3%|▎         | 28/900 [02:04<24:32,  1.69s/it]
  3%|▎         | 29/900 [02:04<18:38,  1.28s/it]
  3%|▎         | 30/900 [02:04<14:26,  1.00it/s]
  3%|▎         | 31/900 [02:05<11:33,  1.25it/s]
  4%|▎         | 32/900 [02:05<09:31,  1.52it/s]
  4%|▎         | 33/900 [02:18<1:02:51,  4.35s/it]
  4%|▍         | 34/900 [02:18<45:23,  3.15s/it]  
  4%|▍         | 35/900 [02:19<33:09,  2.30s/it]
  4%|▍         | 36/900 [02:19<24:30,  1.70s/it]
  4%|▍         | 37/900 [02:19<18:37,  1.29s/it]
  4%|▍         | 38/900 [02:20<14:22,  1.00s/it]
  4%|▍         | 39/900 [02:20<11:20,  1.27it/s]
  4%|▍         | 40/900 [02:20<09:22,  1.53it/s]
  5%|▍         | 41/900 [02:29<44:46,  3.13s/it]
  5%|▍         | 42/900 [02:29<32:35,  2.28s/it]
  5%|▍         | 43/900 [02:30<24:05,  1.69s/it]
  5%|▍         | 44/900 [02:30<18:07,  1.27s/it]
  5%|▌         | 45/900 [02:30<13:57,  1.02it/s]
  5%|▌         | 46/900 [02:31<11:07,  1.28it/s]
  5%|▌         | 47/900 [02:31<09:18,  1.53it/s]
  5%|▌         | 48/900 [02:31<08:00,  1.77it/s]
  5%|▌         | 49/900 [03:05<2:29:18, 10.53s/it]
  6%|▌         | 50/900 [03:05<1:45:51,  7.47s/it]
  6%|▌         | 51/900 [03:06<1:15:30,  5.34s/it]
  6%|▌         | 52/900 [03:06<54:04,  3.83s/it]  
  6%|▌         | 53/900 [03:06<39:15,  2.78s/it]
  6%|▌         | 54/900 [03:07<28:53,  2.05s/it]
  6%|▌         | 55/900 [03:07<21:39,  1.54s/it]
  6%|▌         | 56/900 [03:07<16:37,  1.18s/it]
  6%|▋         | 57/900 [03:43<2:43:23, 11.63s/it]
  6%|▋         | 58/900 [03:44<1:55:32,  8.23s/it]
  7%|▋         | 59/900 [03:44<1:22:07,  5.86s/it]
  7%|▋         | 60/900 [03:44<58:43,  4.19s/it]  
  7%|▋         | 61/900 [03:45<42:32,  3.04s/it]
  7%|▋         | 62/900 [03:45<31:10,  2.23s/it]
  7%|▋         | 63/900 [03:45<23:14,  1.67s/it]
  7%|▋         | 64/900 [03:46<17:39,  1.27s/it]
  7%|▋         | 65/900 [04:00<1:12:35,  5.22s/it]
  7%|▋         | 66/900 [04:00<51:59,  3.74s/it]  
  7%|▋         | 67/900 [04:01<37:35,  2.71s/it]
  8%|▊         | 68/900 [04:01<27:39,  1.99s/it]
  8%|▊         | 69/900 [04:01<20:35,  1.49s/it]
  8%|▊         | 70/900 [04:02<15:35,  1.13s/it]
  8%|▊         | 71/900 [04:02<12:10,  1.14it/s]
  8%|▊         | 72/900 [04:02<09:51,  1.40it/s]
  8%|▊         | 73/900 [04:16<1:04:25,  4.67s/it]
  8%|▊         | 74/900 [04:17<46:31,  3.38s/it]  
  8%|▊         | 75/900 [04:17<33:52,  2.46s/it]
  8%|▊         | 76/900 [04:17<25:10,  1.83s/it]
  9%|▊         | 77/900 [04:18<18:56,  1.38s/it]
  9%|▊         | 78/900 [04:18<14:39,  1.07s/it]
  9%|▉         | 79/900 [04:18<11:35,  1.18it/s]
  9%|▉         | 80/900 [04:19<09:25,  1.45it/s]
  9%|▉         | 81/900 [04:35<1:13:02,  5.35s/it]
  9%|▉         | 82/900 [04:35<52:34,  3.86s/it]  
  9%|▉         | 83/900 [04:36<38:15,  2.81s/it]
  9%|▉         | 84/900 [04:36<28:05,  2.07s/it]
  9%|▉         | 85/900 [04:36<20:59,  1.55s/it]
 10%|▉         | 86/900 [04:37<16:01,  1.18s/it]
 10%|▉         | 87/900 [04:37<12:31,  1.08it/s]
 10%|▉         | 88/900 [04:37<10:03,  1.35it/s]
 10%|▉         | 89/900 [04:51<1:03:36,  4.71s/it]
 10%|█         | 90/900 [04:52<45:49,  3.39s/it]  
 10%|█         | 91/900 [04:52<33:27,  2.48s/it]
 10%|█         | 92/900 [04:52<24:44,  1.84s/it]
 10%|█         | 93/900 [04:53<18:42,  1.39s/it]
 10%|█         | 94/900 [04:53<14:26,  1.07s/it]
 11%|█         | 95/900 [04:53<11:35,  1.16it/s]
 11%|█         | 96/900 [04:54<09:34,  1.40it/s]
 11%|█         | 97/900 [05:15<1:33:52,  7.01s/it]
 11%|█         | 98/900 [05:16<1:07:01,  5.01s/it]
 11%|█         | 99/900 [05:16<48:13,  3.61s/it]  
 11%|█         | 100/900 [05:16<35:04,  2.63s/it]
 11%|█         | 101/900 [05:17<26:02,  1.95s/it]
 11%|█▏        | 102/900 [05:17<19:34,  1.47s/it]
 11%|█▏        | 103/900 [05:17<15:04,  1.14s/it]
 12%|█▏        | 104/900 [05:18<12:00,  1.10it/s]
 12%|█▏        | 105/900 [05:30<55:02,  4.15s/it]
 12%|█▏        | 106/900 [05:30<39:48,  3.01s/it]
 12%|█▏        | 107/900 [05:30<29:10,  2.21s/it]
 12%|█▏        | 108/900 [05:31<21:55,  1.66s/it]
 12%|█▏        | 109/900 [05:31<16:41,  1.27s/it]
 12%|█▏        | 110/900 [05:31<13:10,  1.00s/it]
 12%|█▏        | 111/900 [05:32<10:31,  1.25it/s]
 12%|█▏        | 112/900 [05:32<08:37,  1.52it/s]
 13%|█▎        | 113/900 [05:46<1:03:00,  4.80s/it]
 13%|█▎        | 114/900 [05:47<45:24,  3.47s/it]  
 13%|█▎        | 115/900 [05:47<33:02,  2.53s/it]
 13%|█▎        | 116/900 [05:47<24:26,  1.87s/it]
 13%|█▎        | 117/900 [05:48<18:24,  1.41s/it]
 13%|█▎        | 118/900 [05:48<14:24,  1.11s/it]
 13%|█▎        | 119/900 [05:49<11:29,  1.13it/s]
 13%|█▎        | 120/900 [05:49<09:27,  1.38it/s]
 13%|█▎        | 120/900 [06:05<39:34,  3.04s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_1_env0.json.
+BananasInBinThreeTotalTask_1 complete: task_name: BananasInBinThreeTotalTask, run_name: BananasInBinThreeTotalTask_1, run: 1, env_id: 0, policy: harness, instruction: Make sure there are 3 (three) bananas in the grey bin., attributes: ['semantics', 'counting', 'moderate'], success: True, episode_step: 121, duration: 8.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.640930138213898, 'joint_sparc_mean': -4.750458571276063, 'ee_isj': 1383.2302224200564, 'joint_isj': 26606.000081827828, 'ee_path_length': 1.6414213764268748, 'joint_rmse_mean': 0.9407027278166854, 'ee_speed_max': 0.5332514643669128, 'ee_speed_mean': 0.19362220168113708}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 328.011, 'policy_inference_avg_ms': 2710.8, 'env_step_s': 35.51, 'env_step_avg_ms': 293.5, 'video_write_s': 1.755, 'video_write_avg_ms': 14.5, 'wall_total_s': 365.276, 'it_per_sec': 0.33}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: cef4ca0a7cfa4596bf2c326025ec7234-1
+[RoboLab] Running BananasInBinThreeTotalTask_2: 'Make sure there are 3 (three) bananas in the grey bin.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:02<15:31:53, 62.20s/it]
  0%|          | 2/900 [01:02<6:26:16, 25.81s/it] 
  0%|          | 3/900 [01:02<3:31:53, 14.17s/it]
  0%|          | 4/900 [01:03<2:10:00,  8.71s/it]
  1%|          | 5/900 [01:03<1:24:48,  5.69s/it]
  1%|          | 6/900 [01:03<57:32,  3.86s/it]  
  1%|          | 7/900 [01:04<40:14,  2.70s/it]
  1%|          | 8/900 [01:04<28:57,  1.95s/it]
  1%|          | 9/900 [01:24<1:52:15,  7.56s/it]
  1%|          | 10/900 [01:24<1:19:01,  5.33s/it]
  1%|          | 11/900 [01:25<56:13,  3.79s/it]  
  1%|▏         | 12/900 [01:25<40:22,  2.73s/it]
  1%|▏         | 13/900 [01:25<29:27,  1.99s/it]
  2%|▏         | 14/900 [01:25<21:56,  1.49s/it]
  2%|▏         | 15/900 [01:26<16:37,  1.13s/it]
  2%|▏         | 16/900 [01:26<13:03,  1.13it/s]
  2%|▏         | 17/900 [01:41<1:16:52,  5.22s/it]
  2%|▏         | 18/900 [01:42<55:03,  3.75s/it]  
  2%|▏         | 19/900 [01:42<39:54,  2.72s/it]
  2%|▏         | 20/900 [01:42<29:16,  2.00s/it]
  2%|▏         | 21/900 [01:43<21:53,  1.49s/it]
  2%|▏         | 22/900 [01:43<16:41,  1.14s/it]
  3%|▎         | 23/900 [01:43<13:04,  1.12it/s]
  3%|▎         | 24/900 [01:44<10:28,  1.39it/s]
  3%|▎         | 25/900 [03:01<5:46:01, 23.73s/it]
  3%|▎         | 26/900 [03:01<4:03:20, 16.71s/it]
  3%|▎         | 27/900 [03:02<2:51:31, 11.79s/it]
  3%|▎         | 28/900 [03:02<2:01:19,  8.35s/it]
  3%|▎         | 29/900 [03:02<1:26:12,  5.94s/it]
  3%|▎         | 30/900 [03:03<1:01:35,  4.25s/it]
  3%|▎         | 31/900 [03:03<44:20,  3.06s/it]  
  4%|▎         | 32/900 [03:03<32:24,  2.24s/it]
  4%|▎         | 33/900 [03:26<2:03:26,  8.54s/it]
  4%|▍         | 34/900 [03:27<1:27:50,  6.09s/it]
  4%|▍         | 35/900 [03:27<1:02:52,  4.36s/it]
  4%|▍         | 36/900 [03:27<45:21,  3.15s/it]  
  4%|▍         | 37/900 [03:28<33:07,  2.30s/it]
  4%|▍         | 38/900 [03:28<24:39,  1.72s/it]
  4%|▍         | 39/900 [03:28<18:44,  1.31s/it]
  4%|▍         | 40/900 [03:29<14:37,  1.02s/it]
  5%|▍         | 41/900 [03:47<1:27:04,  6.08s/it]
  5%|▍         | 42/900 [03:47<1:02:17,  4.36s/it]
  5%|▍         | 43/900 [03:47<44:55,  3.15s/it]  
  5%|▍         | 44/900 [03:48<32:51,  2.30s/it]
  5%|▌         | 45/900 [03:48<24:28,  1.72s/it]
  5%|▌         | 46/900 [03:48<18:31,  1.30s/it]
  5%|▌         | 47/900 [03:49<14:22,  1.01s/it]
  5%|▌         | 48/900 [03:49<11:21,  1.25it/s]
  5%|▌         | 49/900 [04:05<1:17:16,  5.45s/it]
  6%|▌         | 50/900 [04:06<55:42,  3.93s/it]  
  6%|▌         | 51/900 [04:06<40:25,  2.86s/it]
  6%|▌         | 52/900 [04:06<29:47,  2.11s/it]
  6%|▌         | 53/900 [04:07<22:21,  1.58s/it]
  6%|▌         | 54/900 [04:07<17:05,  1.21s/it]
  6%|▌         | 55/900 [04:07<13:15,  1.06it/s]
  6%|▌         | 56/900 [04:08<10:32,  1.33it/s]
  6%|▋         | 57/900 [04:26<1:26:20,  6.15s/it]
  6%|▋         | 58/900 [04:27<1:01:45,  4.40s/it]
  7%|▋         | 59/900 [04:27<44:30,  3.18s/it]  
  7%|▋         | 60/900 [04:27<32:21,  2.31s/it]
  7%|▋         | 61/900 [04:28<23:51,  1.71s/it]
  7%|▋         | 62/900 [04:28<17:59,  1.29s/it]
  7%|▋         | 63/900 [04:28<13:55,  1.00it/s]
  7%|▋         | 64/900 [04:29<11:05,  1.26it/s]
  7%|▋         | 65/900 [04:43<1:08:38,  4.93s/it]
  7%|▋         | 66/900 [04:44<49:16,  3.55s/it]  
  7%|▋         | 67/900 [04:44<35:43,  2.57s/it]
  8%|▊         | 68/900 [04:44<26:22,  1.90s/it]
  8%|▊         | 69/900 [04:45<19:52,  1.43s/it]
  8%|▊         | 70/900 [04:45<15:12,  1.10s/it]
  8%|▊         | 71/900 [04:45<11:53,  1.16it/s]
  8%|▊         | 72/900 [04:45<09:40,  1.43it/s]
  8%|▊         | 73/900 [05:04<1:21:30,  5.91s/it]
  8%|▊         | 74/900 [05:04<58:19,  4.24s/it]  
  8%|▊         | 75/900 [05:04<42:07,  3.06s/it]
  8%|▊         | 76/900 [05:05<30:47,  2.24s/it]
  9%|▊         | 77/900 [05:05<22:53,  1.67s/it]
  9%|▊         | 78/900 [05:05<17:19,  1.26s/it]
  9%|▉         | 79/900 [05:06<13:28,  1.02it/s]
  9%|▉         | 80/900 [05:06<10:46,  1.27it/s]
  9%|▉         | 81/900 [05:25<1:24:56,  6.22s/it]
  9%|▉         | 82/900 [05:25<1:00:44,  4.45s/it]
  9%|▉         | 83/900 [05:25<43:46,  3.22s/it]  
  9%|▉         | 84/900 [05:26<31:59,  2.35s/it]
  9%|▉         | 85/900 [05:26<23:41,  1.74s/it]
 10%|▉         | 86/900 [05:26<17:54,  1.32s/it]
 10%|▉         | 87/900 [05:27<13:50,  1.02s/it]
 10%|▉         | 88/900 [05:27<11:00,  1.23it/s]
 10%|▉         | 89/900 [05:37<47:57,  3.55s/it]
 10%|█         | 90/900 [05:37<34:54,  2.59s/it]
 10%|█         | 91/900 [05:38<25:45,  1.91s/it]
 10%|█         | 92/900 [05:38<19:31,  1.45s/it]
 10%|█         | 93/900 [05:38<14:58,  1.11s/it]
 10%|█         | 94/900 [05:39<11:49,  1.14it/s]
 11%|█         | 95/900 [05:39<09:38,  1.39it/s]
 11%|█         | 96/900 [05:39<08:12,  1.63it/s]
 11%|█         | 97/900 [06:09<2:02:37,  9.16s/it]
 11%|█         | 98/900 [06:09<1:27:10,  6.52s/it]
 11%|█         | 99/900 [06:09<1:02:21,  4.67s/it]
 11%|█         | 100/900 [06:10<45:02,  3.38s/it] 
 11%|█         | 101/900 [06:10<32:50,  2.47s/it]
 11%|█▏        | 102/900 [06:10<24:17,  1.83s/it]
 11%|█▏        | 103/900 [06:11<18:28,  1.39s/it]
 12%|█▏        | 104/900 [06:11<14:22,  1.08s/it]
 12%|█▏        | 105/900 [06:23<58:31,  4.42s/it]
 12%|█▏        | 106/900 [06:24<42:14,  3.19s/it]
 12%|█▏        | 107/900 [06:24<30:48,  2.33s/it]
 12%|█▏        | 108/900 [06:24<22:52,  1.73s/it]
 12%|█▏        | 109/900 [06:25<17:18,  1.31s/it]
 12%|█▏        | 110/900 [06:25<13:26,  1.02s/it]
 12%|█▏        | 111/900 [06:25<10:42,  1.23it/s]
 12%|█▏        | 112/900 [06:26<08:45,  1.50it/s]
 13%|█▎        | 113/900 [06:48<1:33:38,  7.14s/it]
 13%|█▎        | 114/900 [06:48<1:06:45,  5.10s/it]
 13%|█▎        | 115/900 [06:48<48:06,  3.68s/it]  
 13%|█▎        | 116/900 [06:49<34:56,  2.67s/it]
 13%|█▎        | 117/900 [06:49<25:44,  1.97s/it]
 13%|█▎        | 118/900 [06:50<19:24,  1.49s/it]
 13%|█▎        | 119/900 [06:50<14:56,  1.15s/it]
 13%|█▎        | 120/900 [06:50<11:45,  1.11it/s]
 13%|█▎        | 120/900 [07:02<45:48,  3.52s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_2_env0.json.
+BananasInBinThreeTotalTask_2 complete: task_name: BananasInBinThreeTotalTask, run_name: BananasInBinThreeTotalTask_2, run: 2, env_id: 0, policy: harness, instruction: Make sure there are 3 (three) bananas in the grey bin., attributes: ['semantics', 'counting', 'moderate'], success: True, episode_step: 121, duration: 8.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.694012530388321, 'joint_sparc_mean': -5.806240816073898, 'ee_isj': 1257.3933889253676, 'joint_isj': 10646.445628876878, 'ee_path_length': 1.4946798929364336, 'joint_rmse_mean': 0.8470369713207608, 'ee_speed_max': 0.5427898168563843, 'ee_speed_mean': 0.179164320230484}, events: {'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 385.645, 'policy_inference_avg_ms': 3187.1, 'env_step_s': 35.509, 'env_step_avg_ms': 293.5, 'video_write_s': 1.666, 'video_write_avg_ms': 13.8, 'wall_total_s': 422.82, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 8376c599e5c44f37935aee1194e92e9c-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T17:16:01Z [8,914,625ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.184981 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T17:16:04Z [8,918,115ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:16:04Z [8,918,115ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:16:04Z [8,918,125ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:16:04Z [8,918,125ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:16:04Z [8,918,134ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:16:04Z [8,918,143ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T17:16:05Z [8,918,561ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((902))' not available in the MDL representation.
+2026-11-03T17:16:05Z [8,918,562ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((902))' not available in the MDL representation.
+2026-11-03T17:16:06Z [8,920,419ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((902))' not available in the MDL representation.
+2026-11-03T17:16:06Z [8,920,420ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((902))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.731076 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BowlStackingRightOnLeftTask                   │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Stack the right bowl on the left bowl         │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BowlStackingRightOnLeftTaskSceneEnvCfg        │
+│  Attributes  : spatial, simple                               │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BowlStackingRightOnLeftTask_0: 'Stack the right bowl on the left bowl' (run 0, 1 envs)
+
  0%|          | 0/300 [00:00<?, ?it/s]
  0%|          | 1/300 [01:10<5:49:07, 70.06s/it]
  1%|          | 2/300 [01:10<2:24:01, 29.00s/it]
  1%|          | 3/300 [01:10<1:18:29, 15.86s/it]
  1%|▏         | 4/300 [01:10<47:48,  9.69s/it]  
  2%|▏         | 5/300 [01:11<30:52,  6.28s/it]
  2%|▏         | 6/300 [01:11<20:40,  4.22s/it]
  2%|▏         | 7/300 [01:11<14:13,  2.91s/it]
  3%|▎         | 8/300 [01:11<10:02,  2.06s/it]
  3%|▎         | 9/300 [01:29<33:08,  6.83s/it]
  3%|▎         | 10/300 [01:29<23:12,  4.80s/it]
  4%|▎         | 11/300 [01:29<16:22,  3.40s/it]
  4%|▍         | 12/300 [01:29<11:42,  2.44s/it]
  4%|▍         | 13/300 [01:29<08:27,  1.77s/it]
  5%|▍         | 14/300 [01:30<06:12,  1.30s/it]
  5%|▌         | 15/300 [01:30<04:40,  1.02it/s]
  5%|▌         | 16/300 [01:30<03:34,  1.32it/s]
  6%|▌         | 17/300 [02:19<1:12:06, 15.29s/it]
  6%|▌         | 18/300 [02:19<50:35, 10.76s/it]  
  6%|▋         | 19/300 [02:20<35:34,  7.60s/it]
  7%|▋         | 20/300 [02:20<25:07,  5.38s/it]
  7%|▋         | 21/300 [02:20<17:49,  3.83s/it]
  7%|▋         | 22/300 [02:20<12:45,  2.76s/it]
  8%|▊         | 23/300 [02:21<09:13,  2.00s/it]
  8%|▊         | 24/300 [02:21<06:45,  1.47s/it]
  8%|▊         | 25/300 [03:01<1:00:14, 13.14s/it]
  9%|▊         | 26/300 [03:01<42:20,  9.27s/it]  
  9%|▉         | 27/300 [03:02<29:50,  6.56s/it]
  9%|▉         | 28/300 [03:02<21:07,  4.66s/it]
 10%|▉         | 29/300 [03:02<15:03,  3.33s/it]
 10%|█         | 30/300 [03:02<10:49,  2.40s/it]
 10%|█         | 31/300 [03:03<07:51,  1.75s/it]
 11%|█         | 32/300 [03:03<05:47,  1.30s/it]
 11%|█         | 33/300 [03:41<54:34, 12.26s/it]
 11%|█▏        | 34/300 [03:41<38:23,  8.66s/it]
 12%|█▏        | 35/300 [03:41<27:04,  6.13s/it]
 12%|█▏        | 36/300 [03:41<19:11,  4.36s/it]
 12%|█▏        | 37/300 [03:42<13:40,  3.12s/it]
 13%|█▎        | 38/300 [03:42<09:50,  2.26s/it]
 13%|█▎        | 39/300 [03:42<07:09,  1.65s/it]
 13%|█▎        | 40/300 [03:42<05:19,  1.23s/it]
 14%|█▎        | 41/300 [04:01<27:25,  6.35s/it]
 14%|█▍        | 42/300 [04:01<19:26,  4.52s/it]
 14%|█▍        | 43/300 [04:01<13:51,  3.23s/it]
 15%|█▍        | 44/300 [04:01<09:56,  2.33s/it]
 15%|█▌        | 45/300 [04:02<07:13,  1.70s/it]
 15%|█▌        | 46/300 [04:02<05:21,  1.27s/it]
 16%|█▌        | 47/300 [04:02<04:01,  1.05it/s]
 16%|█▌        | 48/300 [04:02<03:05,  1.36it/s]
 16%|█▋        | 49/300 [04:17<20:53,  4.99s/it]
 17%|█▋        | 50/300 [04:17<14:50,  3.56s/it]
 17%|█▋        | 51/300 [04:18<10:37,  2.56s/it]
 17%|█▋        | 52/300 [04:18<07:43,  1.87s/it]
 18%|█▊        | 53/300 [04:18<05:39,  1.38s/it]
 18%|█▊        | 54/300 [04:18<04:14,  1.04s/it]
 18%|█▊        | 55/300 [04:19<03:13,  1.26it/s]
 19%|█▊        | 56/300 [04:19<02:33,  1.59it/s]
 19%|█▉        | 57/300 [04:35<21:50,  5.39s/it]
 19%|█▉        | 58/300 [04:36<15:32,  3.85s/it]
 20%|█▉        | 59/300 [04:36<11:07,  2.77s/it]
 20%|██        | 60/300 [04:36<08:04,  2.02s/it]
 20%|██        | 61/300 [04:36<05:56,  1.49s/it]
 21%|██        | 62/300 [04:37<04:27,  1.12s/it]
 21%|██        | 63/300 [04:37<03:23,  1.16it/s]
 21%|██▏       | 64/300 [04:37<02:41,  1.46it/s]
 22%|██▏       | 65/300 [04:48<14:35,  3.72s/it]
 22%|██▏       | 66/300 [04:48<10:28,  2.69s/it]
 22%|██▏       | 67/300 [04:49<07:37,  1.96s/it]
 23%|██▎       | 68/300 [04:49<05:37,  1.46s/it]
 23%|██▎       | 69/300 [04:49<04:13,  1.10s/it]
 23%|██▎       | 70/300 [04:49<03:15,  1.18it/s]
 24%|██▎       | 71/300 [04:50<02:33,  1.49it/s]
 24%|██▍       | 72/300 [04:50<02:05,  1.81it/s]
 24%|██▍       | 73/300 [05:10<24:27,  6.46s/it]
 25%|██▍       | 74/300 [05:10<17:21,  4.61s/it]
 25%|██▌       | 75/300 [05:11<12:22,  3.30s/it]
 25%|██▌       | 76/300 [05:11<08:55,  2.39s/it]
 26%|██▌       | 77/300 [05:11<06:30,  1.75s/it]
 26%|██▌       | 78/300 [05:11<04:49,  1.30s/it]
 26%|██▋       | 79/300 [05:12<03:39,  1.01it/s]
 27%|██▋       | 80/300 [05:12<02:49,  1.30it/s]
 27%|██▋       | 81/300 [05:29<21:05,  5.78s/it]
 27%|██▋       | 82/300 [05:30<14:59,  4.13s/it]
 28%|██▊       | 83/300 [05:30<10:42,  2.96s/it]
 28%|██▊       | 84/300 [05:30<07:43,  2.15s/it]
 28%|██▊       | 85/300 [05:30<05:39,  1.58s/it]
 29%|██▊       | 86/300 [05:31<04:14,  1.19s/it]
 29%|██▉       | 87/300 [05:31<03:13,  1.10it/s]
 29%|██▉       | 88/300 [05:31<02:32,  1.39it/s]
 30%|██▉       | 89/300 [06:05<37:28, 10.66s/it]
 30%|███       | 90/300 [06:05<26:22,  7.53s/it]
 30%|███       | 91/300 [06:06<18:38,  5.35s/it]
 31%|███       | 92/300 [06:06<13:15,  3.83s/it]
 31%|███       | 93/300 [06:06<09:30,  2.76s/it]
 31%|███▏      | 94/300 [06:06<06:54,  2.01s/it]
 32%|███▏      | 95/300 [06:07<05:05,  1.49s/it]
 32%|███▏      | 96/300 [06:07<03:49,  1.12s/it]
 32%|███▏      | 97/300 [06:24<19:32,  5.78s/it]
 33%|███▎      | 98/300 [06:24<13:52,  4.12s/it]
 33%|███▎      | 99/300 [06:24<09:55,  2.96s/it]
 33%|███▎      | 100/300 [06:24<07:10,  2.15s/it]
 34%|███▎      | 101/300 [06:25<05:14,  1.58s/it]
 34%|███▍      | 102/300 [06:25<03:54,  1.18s/it]
 34%|███▍      | 103/300 [06:25<02:56,  1.11it/s]
 35%|███▍      | 104/300 [06:25<02:15,  1.44it/s]
 35%|███▌      | 105/300 [06:38<14:18,  4.40s/it]
 35%|███▌      | 106/300 [06:39<10:13,  3.16s/it]
 36%|███▌      | 107/300 [06:39<07:20,  2.28s/it]
 36%|███▌      | 108/300 [06:39<05:20,  1.67s/it]
 36%|███▋      | 109/300 [06:39<03:55,  1.23s/it]
 37%|███▋      | 110/300 [06:40<02:58,  1.07it/s]
 37%|███▋      | 111/300 [06:40<02:17,  1.37it/s]
 37%|███▋      | 112/300 [06:40<01:48,  1.74it/s]
 38%|███▊      | 113/300 [07:16<34:56, 11.21s/it]
 38%|███▊      | 114/300 [07:16<24:31,  7.91s/it]
 38%|███▊      | 115/300 [07:17<17:18,  5.61s/it]
 39%|███▊      | 116/300 [07:17<12:15,  4.00s/it]
 39%|███▉      | 117/300 [07:17<08:44,  2.86s/it]
 39%|███▉      | 118/300 [07:17<06:17,  2.07s/it]
 40%|███▉      | 119/300 [07:17<04:34,  1.52s/it]
 40%|████      | 120/300 [07:18<03:23,  1.13s/it]
 40%|████      | 121/300 [07:40<22:35,  7.57s/it]
 41%|████      | 122/300 [07:40<15:57,  5.38s/it]
 41%|████      | 123/300 [07:41<11:18,  3.84s/it]
 41%|████▏     | 124/300 [07:41<08:05,  2.76s/it]
 42%|████▏     | 125/300 [07:41<05:50,  2.00s/it]
 42%|████▏     | 126/300 [07:41<04:16,  1.48s/it]
 42%|████▏     | 127/300 [07:42<03:10,  1.10s/it]
 43%|████▎     | 128/300 [07:42<02:24,  1.19it/s]
 43%|████▎     | 129/300 [08:01<17:52,  6.27s/it]
 43%|████▎     | 130/300 [08:01<12:37,  4.46s/it]
 44%|████▎     | 131/300 [08:01<08:59,  3.19s/it]
 44%|████▍     | 132/300 [08:02<06:28,  2.32s/it]
 44%|████▍     | 133/300 [08:02<04:42,  1.69s/it]
 45%|████▍     | 134/300 [08:02<03:27,  1.25s/it]
 45%|████▌     | 135/300 [08:02<02:35,  1.06it/s]
 45%|████▌     | 136/300 [08:03<02:00,  1.36it/s]
 46%|████▌     | 137/300 [08:21<16:31,  6.08s/it]
 46%|████▌     | 138/300 [08:21<11:40,  4.33s/it]
 46%|████▋     | 139/300 [08:22<08:18,  3.10s/it]
 47%|████▋     | 140/300 [08:22<05:57,  2.23s/it]
 47%|████▋     | 141/300 [08:22<04:19,  1.63s/it]
 47%|████▋     | 142/300 [08:22<03:11,  1.21s/it]
 48%|████▊     | 143/300 [08:22<02:23,  1.10it/s]
 48%|████▊     | 144/300 [08:23<01:50,  1.41it/s]
 48%|████▊     | 145/300 [08:46<19:18,  7.47s/it]
 49%|████▊     | 146/300 [08:46<13:36,  5.30s/it]
 49%|████▉     | 147/300 [08:46<09:38,  3.78s/it]
 49%|████▉     | 148/300 [08:47<06:54,  2.73s/it]
 50%|████▉     | 149/300 [08:47<04:57,  1.97s/it]
 50%|█████     | 150/300 [08:47<03:37,  1.45s/it]
 50%|█████     | 151/300 [08:47<02:41,  1.08s/it]
 51%|█████     | 152/300 [08:48<02:03,  1.20it/s]
 51%|█████     | 153/300 [09:26<29:43, 12.13s/it]
 51%|█████▏    | 154/300 [09:26<20:49,  8.56s/it]
 52%|█████▏    | 155/300 [09:27<14:38,  6.06s/it]
 52%|█████▏    | 156/300 [09:27<10:20,  4.31s/it]
 52%|█████▏    | 157/300 [09:27<07:20,  3.08s/it]
 53%|█████▎    | 158/300 [09:27<05:16,  2.23s/it]
 53%|█████▎    | 159/300 [09:27<03:50,  1.63s/it]
 53%|█████▎    | 160/300 [09:28<02:50,  1.22s/it]
 54%|█████▎    | 161/300 [09:51<18:13,  7.87s/it]
 54%|█████▍    | 162/300 [09:51<12:49,  5.58s/it]
 54%|█████▍    | 163/300 [09:52<09:04,  3.97s/it]
 55%|█████▍    | 164/300 [09:52<06:28,  2.86s/it]
 55%|█████▌    | 165/300 [09:52<04:39,  2.07s/it]
 55%|█████▌    | 166/300 [09:52<03:24,  1.53s/it]
 56%|█████▌    | 167/300 [09:53<02:32,  1.14s/it]
 56%|█████▌    | 168/300 [09:53<01:55,  1.14it/s]
 56%|█████▋    | 169/300 [10:13<14:41,  6.73s/it]
 57%|█████▋    | 170/300 [10:13<10:22,  4.79s/it]
 57%|█████▋    | 171/300 [10:14<07:22,  3.43s/it]
 57%|█████▋    | 172/300 [10:14<05:18,  2.49s/it]
 58%|█████▊    | 173/300 [10:14<03:51,  1.82s/it]
 58%|█████▊    | 174/300 [10:15<02:51,  1.36s/it]
 58%|█████▊    | 175/300 [10:15<02:07,  1.02s/it]
 59%|█████▊    | 176/300 [10:15<01:38,  1.26it/s]
 59%|█████▉    | 177/300 [10:42<17:38,  8.61s/it]
 59%|█████▉    | 178/300 [10:42<12:23,  6.09s/it]
 60%|█████▉    | 179/300 [10:42<08:43,  4.33s/it]
 60%|██████    | 180/300 [10:43<06:12,  3.10s/it]
 60%|██████    | 181/300 [10:43<04:26,  2.24s/it]
 61%|██████    | 182/300 [10:43<03:12,  1.63s/it]
 61%|██████    | 183/300 [10:43<02:21,  1.21s/it]
 61%|██████▏   | 184/300 [10:43<01:46,  1.09it/s]
 62%|██████▏   | 185/300 [11:09<16:02,  8.37s/it]
 62%|██████▏   | 186/300 [11:09<11:15,  5.92s/it]
 62%|██████▏   | 187/300 [11:10<07:55,  4.21s/it]
 63%|██████▎   | 188/300 [11:10<05:38,  3.03s/it]
 63%|██████▎   | 189/300 [11:10<04:03,  2.19s/it]
 63%|██████▎   | 190/300 [11:10<02:55,  1.60s/it]
 64%|██████▎   | 191/300 [11:11<02:09,  1.19s/it]
 64%|██████▍   | 192/300 [11:11<01:38,  1.10it/s]
 64%|██████▍   | 193/300 [11:37<15:03,  8.44s/it]
 65%|██████▍   | 194/300 [11:37<10:33,  5.98s/it]
 65%|██████▌   | 195/300 [11:37<07:26,  4.26s/it]
 65%|██████▌   | 196/300 [11:38<05:16,  3.05s/it]
 66%|██████▌   | 197/300 [11:38<03:46,  2.20s/it]
 66%|██████▌   | 198/300 [11:38<02:43,  1.61s/it]
 66%|██████▋   | 199/300 [11:38<02:00,  1.20s/it]
 67%|██████▋   | 200/300 [11:38<01:31,  1.09it/s]
 67%|██████▋   | 201/300 [11:53<08:13,  4.99s/it]
 67%|██████▋   | 202/300 [11:53<05:49,  3.57s/it]
 68%|██████▊   | 203/300 [11:54<04:09,  2.58s/it]
 68%|██████▊   | 204/300 [11:54<02:59,  1.87s/it]
 68%|██████▊   | 205/300 [11:54<02:12,  1.39s/it]
 69%|██████▊   | 206/300 [11:54<01:39,  1.05s/it]
 69%|██████▉   | 207/300 [11:55<01:15,  1.23it/s]
 69%|██████▉   | 208/300 [11:55<00:59,  1.55it/s]
 70%|██████▉   | 209/300 [12:18<11:16,  7.43s/it]
 70%|███████   | 210/300 [12:18<07:55,  5.28s/it]
 70%|███████   | 211/300 [12:19<05:35,  3.77s/it]
 71%|███████   | 212/300 [12:19<03:58,  2.71s/it]
 71%|███████   | 213/300 [12:19<02:50,  1.96s/it]
 71%|███████▏  | 214/300 [12:19<02:04,  1.45s/it]
 72%|███████▏  | 215/300 [12:19<01:31,  1.08s/it]
 72%|███████▏  | 216/300 [12:20<01:08,  1.22it/s]
 72%|███████▏  | 217/300 [12:40<09:24,  6.80s/it]
 73%|███████▎  | 218/300 [12:41<06:35,  4.83s/it]
 73%|███████▎  | 219/300 [12:41<04:38,  3.44s/it]
 73%|███████▎  | 220/300 [12:41<03:18,  2.48s/it]
 74%|███████▎  | 221/300 [12:41<02:22,  1.80s/it]
 74%|███████▍  | 222/300 [12:42<01:44,  1.34s/it]
 74%|███████▍  | 223/300 [12:42<01:17,  1.00s/it]
 75%|███████▍  | 224/300 [12:42<00:58,  1.30it/s]
 75%|███████▌  | 225/300 [13:12<11:44,  9.39s/it]
 75%|███████▌  | 226/300 [13:12<08:12,  6.65s/it]
 76%|███████▌  | 227/300 [13:12<05:45,  4.73s/it]
 76%|███████▌  | 228/300 [13:12<04:03,  3.39s/it]
 76%|███████▋  | 229/300 [13:13<02:53,  2.45s/it]
 77%|███████▋  | 230/300 [13:13<02:05,  1.79s/it]
 77%|███████▋  | 231/300 [13:13<01:31,  1.33s/it]
 77%|███████▋  | 232/300 [13:13<01:08,  1.01s/it]
 78%|███████▊  | 233/300 [13:31<06:36,  5.92s/it]
 78%|███████▊  | 234/300 [13:31<04:39,  4.23s/it]
 78%|███████▊  | 235/300 [13:31<03:17,  3.04s/it]
 79%|███████▊  | 236/300 [13:31<02:20,  2.20s/it]
 79%|███████▉  | 237/300 [13:32<01:41,  1.61s/it]
 79%|███████▉  | 238/300 [13:32<01:14,  1.20s/it]
 80%|███████▉  | 239/300 [13:32<00:56,  1.09it/s]
 80%|████████  | 240/300 [13:32<00:43,  1.39it/s]
 80%|████████  | 241/300 [14:01<09:03,  9.21s/it]
 81%|████████  | 242/300 [14:02<06:18,  6.53s/it]
 81%|████████  | 243/300 [14:02<04:25,  4.65s/it]
 81%|████████▏ | 244/300 [14:02<03:06,  3.33s/it]
 82%|████████▏ | 245/300 [14:03<02:12,  2.41s/it]
 82%|████████▏ | 246/300 [14:03<01:34,  1.75s/it]
 82%|████████▏ | 247/300 [14:03<01:08,  1.30s/it]
 83%|████████▎ | 248/300 [14:03<00:51,  1.02it/s]
 83%|████████▎ | 249/300 [14:38<09:23, 11.05s/it]
 83%|████████▎ | 250/300 [14:38<06:29,  7.80s/it]
 84%|████████▎ | 251/300 [14:38<04:30,  5.52s/it]
 84%|████████▍ | 252/300 [14:38<03:09,  3.94s/it]
 84%|████████▍ | 253/300 [14:39<02:12,  2.82s/it]
 85%|████████▍ | 254/300 [14:39<01:34,  2.05s/it]
 85%|████████▌ | 255/300 [14:39<01:07,  1.50s/it]
 85%|████████▌ | 256/300 [14:39<00:49,  1.11s/it]
 86%|████████▌ | 257/300 [15:01<05:10,  7.21s/it]
 86%|████████▌ | 258/300 [15:01<03:34,  5.12s/it]
 86%|████████▋ | 259/300 [15:01<02:29,  3.65s/it]
 87%|████████▋ | 260/300 [15:01<01:45,  2.63s/it]
 87%|████████▋ | 261/300 [15:02<01:14,  1.91s/it]
 87%|████████▋ | 262/300 [15:02<00:53,  1.41s/it]
 88%|████████▊ | 263/300 [15:02<00:38,  1.05s/it]
 88%|████████▊ | 264/300 [15:02<00:28,  1.24it/s]
 88%|████████▊ | 265/300 [15:23<03:59,  6.84s/it]
 89%|████████▊ | 266/300 [15:24<02:45,  4.86s/it]
 89%|████████▉ | 267/300 [15:24<01:54,  3.47s/it]
 89%|████████▉ | 268/300 [15:24<01:19,  2.49s/it]
 90%|████████▉ | 269/300 [15:24<00:56,  1.81s/it]
 90%|█████████ | 270/300 [15:24<00:39,  1.33s/it]
 90%|█████████ | 271/300 [15:25<00:28,  1.00it/s]
 91%|█████████ | 272/300 [15:25<00:21,  1.31it/s]
 91%|█████████ | 273/300 [15:55<04:21,  9.69s/it]
 91%|█████████▏| 274/300 [15:56<02:58,  6.86s/it]
 92%|█████████▏| 275/300 [15:56<02:01,  4.86s/it]
 92%|█████████▏| 276/300 [15:56<01:23,  3.48s/it]
 92%|█████████▏| 277/300 [15:56<00:57,  2.50s/it]
 93%|█████████▎| 278/300 [15:57<00:39,  1.82s/it]
 93%|█████████▎| 279/300 [15:57<00:28,  1.34s/it]
 93%|█████████▎| 280/300 [15:57<00:20,  1.01s/it]
 94%|█████████▎| 281/300 [16:17<02:10,  6.85s/it]
 94%|█████████▍| 282/300 [16:18<01:27,  4.87s/it]
 94%|█████████▍| 283/300 [16:18<00:59,  3.47s/it]
 95%|█████████▍| 284/300 [16:18<00:40,  2.50s/it]
 95%|█████████▌| 285/300 [16:18<00:27,  1.82s/it]
 95%|█████████▌| 286/300 [16:19<00:18,  1.34s/it]
 96%|█████████▌| 287/300 [16:19<00:13,  1.01s/it]
 96%|█████████▌| 288/300 [16:19<00:09,  1.29it/s]
 96%|█████████▋| 289/300 [16:44<01:27,  7.99s/it]
 97%|█████████▋| 290/300 [16:44<00:56,  5.66s/it]
 97%|█████████▋| 291/300 [16:44<00:36,  4.03s/it]
 97%|█████████▋| 292/300 [16:45<00:23,  2.90s/it]
 98%|█████████▊| 293/300 [16:45<00:14,  2.09s/it]
 98%|█████████▊| 294/300 [16:45<00:09,  1.54s/it]
 98%|█████████▊| 295/300 [16:45<00:05,  1.14s/it]
 99%|█████████▊| 296/300 [16:46<00:03,  1.15it/s]
 99%|█████████▉| 297/300 [17:08<00:22,  7.40s/it]
 99%|█████████▉| 298/300 [17:08<00:10,  5.25s/it]
100%|█████████▉| 299/300 [17:09<00:03,  3.75s/it]
100%|█████████▉| 299/300 [17:09<00:03,  3.44s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json.
+BowlStackingRightOnLeftTask_0 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_0, run: 0, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: False, episode_step: 300, duration: 20.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.882340338229439, 'joint_sparc_mean': -9.02112393885371, 'ee_isj': 1416.554649186803, 'joint_isj': 34582.07684330368, 'ee_path_length': 2.4594872398817684, 'joint_rmse_mean': 0.9289662151907001, 'ee_speed_max': 0.40721094608306885, 'ee_speed_mean': 0.11723396182060242}, events: {'WRONG_OBJECT_GRABBED': 8, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 8, 'OBJECT_BUMPED': 6, 'wrong_objects_grabbed': ['bowl_2', 'bowl_2', 'bowl_2', 'bowl_2', 'bowl_2', 'bowl_2', 'bowl_2', 'bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 965.233, 'policy_inference_avg_ms': 3217.4, 'env_step_s': 60.731, 'env_step_avg_ms': 202.4, 'video_write_s': 3.302, 'video_write_avg_ms': 11.0, 'wall_total_s': 1029.266, 'it_per_sec': 0.29}, score: 0.0, reason: Condition not satisfied: object_in_container(object=['bowl_1'], container=bowl_2, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1), harness_episode_id: fe00652472964e68835278889964b541-0
+[RoboLab] Running BowlStackingRightOnLeftTask_1: 'Stack the right bowl on the left bowl' (run 1, 1 envs)
+
  0%|          | 0/300 [00:00<?, ?it/s]
  0%|          | 1/300 [00:54<4:31:14, 54.43s/it]
  1%|          | 2/300 [00:54<1:51:57, 22.54s/it]
  1%|          | 3/300 [00:54<1:01:10, 12.36s/it]
  1%|▏         | 4/300 [00:55<37:19,  7.57s/it]  
  2%|▏         | 5/300 [00:55<24:10,  4.92s/it]
  2%|▏         | 6/300 [00:55<16:15,  3.32s/it]
  2%|▏         | 7/300 [00:55<11:17,  2.31s/it]
  3%|▎         | 8/300 [00:55<07:59,  1.64s/it]
  3%|▎         | 9/300 [01:24<49:09, 10.14s/it]
  3%|▎         | 10/300 [01:25<34:11,  7.07s/it]
  4%|▎         | 11/300 [01:25<23:59,  4.98s/it]
  4%|▍         | 12/300 [01:25<16:57,  3.53s/it]
  4%|▍         | 13/300 [01:25<12:07,  2.53s/it]
  5%|▍         | 14/300 [01:25<08:45,  1.84s/it]
  5%|▌         | 15/300 [01:26<06:26,  1.36s/it]
  5%|▌         | 16/300 [01:26<04:48,  1.02s/it]
  6%|▌         | 17/300 [02:10<1:05:55, 13.98s/it]
  6%|▌         | 18/300 [02:10<46:16,  9.84s/it]  
  6%|▋         | 19/300 [02:10<32:36,  6.96s/it]
  7%|▋         | 20/300 [02:11<23:02,  4.94s/it]
  7%|▋         | 21/300 [02:11<16:25,  3.53s/it]
  7%|▋         | 22/300 [02:11<11:46,  2.54s/it]
  8%|▊         | 23/300 [02:11<08:34,  1.86s/it]
  8%|▊         | 24/300 [02:12<06:17,  1.37s/it]
  8%|▊         | 25/300 [02:46<51:58, 11.34s/it]
  9%|▊         | 26/300 [02:47<36:33,  8.01s/it]
  9%|▉         | 27/300 [02:47<25:50,  5.68s/it]
  9%|▉         | 28/300 [02:47<18:20,  4.05s/it]
 10%|▉         | 29/300 [02:47<13:04,  2.90s/it]
 10%|█         | 30/300 [02:47<09:25,  2.10s/it]
 10%|█         | 31/300 [02:48<06:52,  1.53s/it]
 11%|█         | 32/300 [02:48<05:05,  1.14s/it]
 11%|█         | 33/300 [03:04<25:09,  5.65s/it]
 11%|█▏        | 34/300 [03:04<17:49,  4.02s/it]
 12%|█▏        | 35/300 [03:05<12:45,  2.89s/it]
 12%|█▏        | 36/300 [03:05<09:12,  2.09s/it]
 12%|█▏        | 37/300 [03:05<06:45,  1.54s/it]
 13%|█▎        | 38/300 [03:05<05:00,  1.15s/it]
 13%|█▎        | 39/300 [03:05<03:48,  1.14it/s]
 13%|█▎        | 40/300 [03:06<02:56,  1.48it/s]
 14%|█▎        | 41/300 [03:25<26:28,  6.13s/it]
 14%|█▍        | 42/300 [03:25<18:46,  4.37s/it]
 14%|█▍        | 43/300 [03:25<13:24,  3.13s/it]
 15%|█▍        | 44/300 [03:25<09:39,  2.27s/it]
 15%|█▌        | 45/300 [03:26<07:05,  1.67s/it]
 15%|█▌        | 46/300 [03:26<05:15,  1.24s/it]
 16%|█▌        | 47/300 [03:26<04:00,  1.05it/s]
 16%|█▌        | 48/300 [03:26<03:05,  1.36it/s]
 16%|█▋        | 49/300 [03:38<16:15,  3.89s/it]
 17%|█▋        | 50/300 [03:38<11:38,  2.79s/it]
 17%|█▋        | 51/300 [03:38<08:27,  2.04s/it]
 17%|█▋        | 52/300 [03:38<06:12,  1.50s/it]
 18%|█▊        | 53/300 [03:39<04:39,  1.13s/it]
 18%|█▊        | 54/300 [03:39<03:32,  1.16it/s]
 18%|█▊        | 55/300 [03:39<02:48,  1.46it/s]
 19%|█▊        | 56/300 [03:39<02:15,  1.80it/s]
 19%|█▉        | 57/300 [04:11<39:41,  9.80s/it]
 19%|█▉        | 58/300 [04:11<27:58,  6.93s/it]
 20%|█▉        | 59/300 [04:11<19:49,  4.93s/it]
 20%|██        | 60/300 [04:12<14:07,  3.53s/it]
 20%|██        | 61/300 [04:12<10:09,  2.55s/it]
 21%|██        | 62/300 [04:12<07:22,  1.86s/it]
 21%|██        | 63/300 [04:12<05:26,  1.38s/it]
 21%|██▏       | 64/300 [04:13<04:04,  1.04s/it]
 22%|██▏       | 65/300 [04:28<20:36,  5.26s/it]
 22%|██▏       | 66/300 [04:28<14:38,  3.76s/it]
 22%|██▏       | 67/300 [04:28<10:30,  2.70s/it]
 23%|██▎       | 68/300 [04:28<07:36,  1.97s/it]
 23%|██▎       | 69/300 [04:29<05:36,  1.46s/it]
 23%|██▎       | 70/300 [04:29<04:11,  1.09s/it]
 24%|██▎       | 71/300 [04:29<03:12,  1.19it/s]
 24%|██▍       | 72/300 [04:29<02:31,  1.50it/s]
 24%|██▍       | 73/300 [04:55<30:44,  8.13s/it]
 25%|██▍       | 74/300 [04:55<21:42,  5.76s/it]
 25%|██▌       | 75/300 [04:55<15:23,  4.10s/it]
 25%|██▌       | 76/300 [04:56<10:58,  2.94s/it]
 26%|██▌       | 77/300 [04:56<07:54,  2.13s/it]
 26%|██▌       | 78/300 [04:56<05:44,  1.55s/it]
 26%|██▋       | 79/300 [04:56<04:16,  1.16s/it]
 27%|██▋       | 80/300 [04:57<03:13,  1.13it/s]
 27%|██▋       | 81/300 [05:30<39:04, 10.70s/it]
 27%|██▋       | 82/300 [05:30<27:27,  7.56s/it]
 28%|██▊       | 83/300 [05:31<19:23,  5.36s/it]
 28%|██▊       | 84/300 [05:31<13:45,  3.82s/it]
 28%|██▊       | 85/300 [05:31<09:50,  2.75s/it]
 29%|██▊       | 86/300 [05:31<07:05,  1.99s/it]
 29%|██▉       | 87/300 [05:32<05:11,  1.46s/it]
 29%|██▉       | 88/300 [05:32<03:51,  1.09s/it]
 30%|██▉       | 89/300 [05:44<15:49,  4.50s/it]
 30%|███       | 90/300 [05:44<11:14,  3.21s/it]
 30%|███       | 91/300 [05:45<08:04,  2.32s/it]
 31%|███       | 92/300 [05:45<05:51,  1.69s/it]
 31%|███       | 93/300 [05:45<04:17,  1.25s/it]
 31%|███▏      | 94/300 [05:45<03:13,  1.07it/s]
 32%|███▏      | 95/300 [05:46<02:30,  1.36it/s]
 32%|███▏      | 96/300 [05:46<01:58,  1.72it/s]
 32%|███▏      | 97/300 [06:04<19:44,  5.83s/it]
 33%|███▎      | 98/300 [06:04<13:58,  4.15s/it]
 33%|███▎      | 99/300 [06:04<09:57,  2.97s/it]
 33%|███▎      | 100/300 [06:05<07:10,  2.15s/it]
 34%|███▎      | 101/300 [06:05<05:14,  1.58s/it]
 34%|███▍      | 102/300 [06:05<03:51,  1.17s/it]
 34%|███▍      | 103/300 [06:05<02:55,  1.12it/s]
 35%|███▍      | 104/300 [06:06<02:14,  1.45it/s]
 35%|███▌      | 105/300 [06:18<13:26,  4.13s/it]
 35%|███▌      | 106/300 [06:18<09:34,  2.96s/it]
 36%|███▌      | 107/300 [06:18<06:52,  2.14s/it]
 36%|███▌      | 108/300 [06:18<04:59,  1.56s/it]
 36%|███▋      | 109/300 [06:19<03:42,  1.16s/it]
 37%|███▋      | 110/300 [06:19<02:47,  1.14it/s]
 37%|███▋      | 111/300 [06:19<02:10,  1.45it/s]
 37%|███▋      | 112/300 [06:19<01:43,  1.81it/s]
 38%|███▊      | 113/300 [06:56<35:23, 11.36s/it]
 38%|███▊      | 114/300 [06:56<24:53,  8.03s/it]
 38%|███▊      | 115/300 [06:56<17:32,  5.69s/it]
 39%|███▊      | 116/300 [06:57<12:26,  4.06s/it]
 39%|███▉      | 117/300 [06:57<08:54,  2.92s/it]
 39%|███▉      | 118/300 [06:57<06:24,  2.12s/it]
 40%|███▉      | 119/300 [06:57<04:40,  1.55s/it]
 40%|████      | 120/300 [06:58<03:27,  1.15s/it]
 40%|████      | 121/300 [07:18<20:30,  6.87s/it]
 41%|████      | 122/300 [07:18<14:28,  4.88s/it]
 41%|████      | 123/300 [07:18<10:15,  3.48s/it]
 41%|████▏     | 124/300 [07:18<07:20,  2.50s/it]
 42%|████▏     | 125/300 [07:19<05:18,  1.82s/it]
 42%|████▏     | 126/300 [07:19<03:52,  1.34s/it]
 42%|████▏     | 127/300 [07:19<02:53,  1.01s/it]
 43%|████▎     | 128/300 [07:19<02:12,  1.30it/s]
 43%|████▎     | 129/300 [07:34<13:58,  4.90s/it]
 43%|████▎     | 130/300 [07:34<09:55,  3.50s/it]
 44%|████▎     | 131/300 [07:34<07:06,  2.52s/it]
 44%|████▍     | 132/300 [07:35<05:09,  1.84s/it]
 44%|████▍     | 133/300 [07:35<03:46,  1.36s/it]
 45%|████▍     | 134/300 [07:35<02:50,  1.03s/it]
 45%|████▌     | 135/300 [07:35<02:12,  1.25it/s]
 45%|████▌     | 136/300 [07:36<01:44,  1.57it/s]
 46%|████▌     | 137/300 [07:48<11:07,  4.09s/it]
 46%|████▌     | 138/300 [07:48<07:55,  2.94s/it]
 46%|████▋     | 139/300 [07:48<05:41,  2.12s/it]
 47%|████▋     | 140/300 [07:48<04:08,  1.56s/it]
 47%|████▋     | 141/300 [07:49<03:06,  1.17s/it]
 47%|████▋     | 142/300 [07:49<02:21,  1.11it/s]
 48%|████▊     | 143/300 [07:49<01:51,  1.41it/s]
 48%|████▊     | 144/300 [07:49<01:28,  1.75it/s]
 48%|████▊     | 145/300 [08:19<23:31,  9.11s/it]
 49%|████▊     | 146/300 [08:19<16:33,  6.45s/it]
 49%|████▉     | 147/300 [08:19<11:43,  4.60s/it]
 49%|████▉     | 148/300 [08:19<08:20,  3.30s/it]
 50%|████▉     | 149/300 [08:20<06:01,  2.39s/it]
 50%|█████     | 150/300 [08:20<04:22,  1.75s/it]
 50%|█████     | 151/300 [08:20<03:15,  1.31s/it]
 51%|█████     | 152/300 [08:20<02:27,  1.00it/s]
 51%|█████     | 153/300 [08:54<26:18, 10.74s/it]
 51%|█████▏    | 154/300 [08:54<18:28,  7.59s/it]
 52%|█████▏    | 155/300 [08:54<13:01,  5.39s/it]
 52%|█████▏    | 156/300 [08:55<09:14,  3.85s/it]
 52%|█████▏    | 157/300 [08:55<06:37,  2.78s/it]
 53%|█████▎    | 158/300 [08:55<04:47,  2.03s/it]
 53%|█████▎    | 159/300 [08:55<03:32,  1.51s/it]
 53%|█████▎    | 160/300 [08:56<02:38,  1.13s/it]
 54%|█████▎    | 161/300 [09:17<16:29,  7.12s/it]
 54%|█████▍    | 162/300 [09:17<11:38,  5.07s/it]
 54%|█████▍    | 163/300 [09:17<08:18,  3.64s/it]
 55%|█████▍    | 164/300 [09:18<05:57,  2.63s/it]
 55%|█████▌    | 165/300 [09:18<04:20,  1.93s/it]
 55%|█████▌    | 166/300 [09:18<03:11,  1.43s/it]
 56%|█████▌    | 167/300 [09:19<02:24,  1.09s/it]
 56%|█████▌    | 168/300 [09:19<01:50,  1.19it/s]
 56%|█████▋    | 169/300 [09:38<14:01,  6.42s/it]
 57%|█████▋    | 170/300 [09:38<09:54,  4.58s/it]
 57%|█████▋    | 171/300 [09:39<07:04,  3.29s/it]
 57%|█████▋    | 172/300 [09:39<05:04,  2.38s/it]
 58%|█████▊    | 173/300 [09:39<03:41,  1.74s/it]
 58%|█████▊    | 174/300 [09:40<02:43,  1.30s/it]
 58%|█████▊    | 175/300 [09:40<02:03,  1.01it/s]
 59%|█████▊    | 176/300 [09:40<01:35,  1.29it/s]
 59%|█████▉    | 177/300 [09:57<11:13,  5.48s/it]
 59%|█████▉    | 178/300 [09:57<07:58,  3.92s/it]
 60%|█████▉    | 179/300 [09:57<05:42,  2.83s/it]
 60%|██████    | 180/300 [09:57<04:06,  2.06s/it]
 60%|██████    | 181/300 [09:58<03:01,  1.53s/it]
 61%|██████    | 182/300 [09:58<02:15,  1.15s/it]
 61%|██████    | 183/300 [09:58<01:44,  1.12it/s]
 61%|██████▏   | 184/300 [09:58<01:21,  1.43it/s]
 62%|██████▏   | 185/300 [10:20<13:04,  6.83s/it]
 62%|██████▏   | 186/300 [10:20<09:13,  4.86s/it]
 62%|██████▏   | 187/300 [10:20<06:32,  3.47s/it]
 63%|██████▎   | 188/300 [10:20<04:40,  2.51s/it]
 63%|██████▎   | 189/300 [10:21<03:24,  1.84s/it]
 63%|██████▎   | 190/300 [10:21<02:29,  1.36s/it]
 64%|██████▎   | 191/300 [10:21<01:51,  1.03s/it]
 64%|██████▍   | 192/300 [10:21<01:25,  1.26it/s]
 64%|██████▍   | 193/300 [10:58<20:45, 11.64s/it]
 65%|██████▍   | 194/300 [10:59<14:31,  8.22s/it]
 65%|██████▌   | 195/300 [10:59<10:13,  5.84s/it]
 65%|██████▌   | 196/300 [10:59<07:13,  4.17s/it]
 66%|██████▌   | 197/300 [10:59<05:08,  3.00s/it]
 66%|██████▌   | 198/300 [11:00<03:42,  2.18s/it]
 66%|██████▋   | 199/300 [11:00<02:42,  1.61s/it]
 67%|██████▋   | 200/300 [11:00<02:01,  1.21s/it]
 67%|██████▋   | 201/300 [11:50<26:11, 15.88s/it]
 67%|██████▋   | 202/300 [11:51<18:16, 11.19s/it]
 68%|██████▊   | 203/300 [11:51<12:47,  7.91s/it]
 68%|██████▊   | 204/300 [11:51<08:59,  5.62s/it]
 68%|██████▊   | 205/300 [11:51<06:22,  4.02s/it]
 69%|██████▊   | 206/300 [11:52<04:32,  2.90s/it]
 69%|██████▉   | 207/300 [11:52<03:17,  2.12s/it]
 69%|██████▉   | 208/300 [11:52<02:23,  1.56s/it]
 70%|██████▉   | 209/300 [12:27<17:27, 11.52s/it]
 70%|███████   | 210/300 [12:27<12:12,  8.14s/it]
 70%|███████   | 211/300 [12:28<08:33,  5.77s/it]
 71%|███████   | 212/300 [12:28<06:02,  4.12s/it]
 71%|███████   | 213/300 [12:28<04:18,  2.97s/it]
 71%|███████▏  | 214/300 [12:28<03:05,  2.15s/it]
 72%|███████▏  | 215/300 [12:29<02:14,  1.58s/it]
 72%|███████▏  | 216/300 [12:29<01:39,  1.19s/it]
 72%|███████▏  | 217/300 [13:00<14:10, 10.25s/it]
 73%|███████▎  | 218/300 [13:00<09:54,  7.25s/it]
 73%|███████▎  | 219/300 [13:01<06:57,  5.15s/it]
 73%|███████▎  | 220/300 [13:01<04:54,  3.68s/it]
 74%|███████▎  | 221/300 [13:01<03:29,  2.65s/it]
 74%|███████▍  | 222/300 [13:01<02:30,  1.93s/it]
 74%|███████▍  | 223/300 [13:02<01:49,  1.42s/it]
 75%|███████▍  | 224/300 [13:02<01:21,  1.07s/it]
 75%|███████▌  | 225/300 [13:22<08:19,  6.66s/it]
 75%|███████▌  | 226/300 [13:22<05:50,  4.74s/it]
 76%|███████▌  | 227/300 [13:22<04:07,  3.39s/it]
 76%|███████▌  | 228/300 [13:22<02:56,  2.45s/it]
 76%|███████▋  | 229/300 [13:23<02:07,  1.80s/it]
 77%|███████▋  | 230/300 [13:23<01:33,  1.33s/it]
 77%|███████▋  | 231/300 [13:23<01:09,  1.01s/it]
 77%|███████▋  | 232/300 [13:23<00:53,  1.28it/s]
 78%|███████▊  | 233/300 [13:58<12:03, 10.80s/it]
 78%|███████▊  | 234/300 [13:58<08:24,  7.64s/it]
 78%|███████▊  | 235/300 [13:58<05:52,  5.43s/it]
 79%|███████▊  | 236/300 [13:58<04:08,  3.88s/it]
 79%|███████▉  | 237/300 [13:59<02:56,  2.80s/it]
 79%|███████▉  | 238/300 [13:59<02:06,  2.04s/it]
 80%|███████▉  | 239/300 [13:59<01:31,  1.50s/it]
 80%|████████  | 240/300 [13:59<01:07,  1.13s/it]
 80%|████████  | 241/300 [14:27<08:46,  8.92s/it]
 81%|████████  | 242/300 [14:27<06:06,  6.32s/it]
 81%|████████  | 243/300 [14:27<04:17,  4.51s/it]
 81%|████████▏ | 244/300 [14:27<03:01,  3.23s/it]
 82%|████████▏ | 245/300 [14:28<02:09,  2.35s/it]
 82%|████████▏ | 246/300 [14:28<01:32,  1.72s/it]
 82%|████████▏ | 247/300 [14:28<01:08,  1.28s/it]
 83%|████████▎ | 248/300 [14:28<00:50,  1.02it/s]
 83%|████████▎ | 249/300 [15:01<08:58, 10.56s/it]
 83%|████████▎ | 250/300 [15:02<06:13,  7.47s/it]
 84%|████████▎ | 251/300 [15:02<04:20,  5.31s/it]
 84%|████████▍ | 252/300 [15:02<03:01,  3.79s/it]
 84%|████████▍ | 253/300 [15:02<02:08,  2.73s/it]
 85%|████████▍ | 254/300 [15:03<01:31,  1.98s/it]
 85%|████████▌ | 255/300 [15:03<01:06,  1.48s/it]
 85%|████████▌ | 256/300 [15:03<00:49,  1.12s/it]
 86%|████████▌ | 257/300 [15:22<04:35,  6.42s/it]
 86%|████████▌ | 258/300 [15:22<03:11,  4.57s/it]
 86%|████████▋ | 259/300 [15:22<02:14,  3.28s/it]
 87%|████████▋ | 260/300 [15:23<01:34,  2.37s/it]
 87%|████████▋ | 261/300 [15:23<01:07,  1.74s/it]
 87%|████████▋ | 262/300 [15:23<00:49,  1.30s/it]
 88%|████████▊ | 263/300 [15:24<00:36,  1.01it/s]
 88%|████████▊ | 264/300 [15:24<00:27,  1.30it/s]
 88%|████████▊ | 265/300 [15:46<04:15,  7.30s/it]
 89%|████████▊ | 266/300 [15:47<02:56,  5.18s/it]
 89%|████████▉ | 267/300 [15:47<02:02,  3.71s/it]
 89%|████████▉ | 268/300 [15:47<01:25,  2.67s/it]
 90%|████████▉ | 269/300 [15:47<01:00,  1.96s/it]
 90%|█████████ | 270/300 [15:48<00:43,  1.45s/it]
 90%|█████████ | 271/300 [15:48<00:31,  1.10s/it]
 91%|█████████ | 272/300 [15:48<00:23,  1.17it/s]
 91%|█████████ | 273/300 [16:10<03:10,  7.07s/it]
 91%|█████████▏| 274/300 [16:10<02:10,  5.03s/it]
 92%|█████████▏| 275/300 [16:10<01:29,  3.60s/it]
 92%|█████████▏| 276/300 [16:11<01:02,  2.59s/it]
 92%|█████████▏| 277/300 [16:11<00:43,  1.90s/it]
 93%|█████████▎| 278/300 [16:11<00:30,  1.41s/it]
 93%|█████████▎| 279/300 [16:11<00:22,  1.07s/it]
 93%|█████████▎| 280/300 [16:12<00:16,  1.21it/s]
 94%|█████████▎| 281/300 [16:40<02:52,  9.06s/it]
 94%|█████████▍| 282/300 [16:40<01:55,  6.42s/it]
 94%|█████████▍| 283/300 [16:40<01:17,  4.57s/it]
 95%|█████████▍| 284/300 [16:41<00:52,  3.27s/it]
 95%|█████████▌| 285/300 [16:41<00:35,  2.37s/it]
 95%|█████████▌| 286/300 [16:41<00:24,  1.74s/it]
 96%|█████████▌| 287/300 [16:41<00:16,  1.29s/it]
 96%|█████████▌| 288/300 [16:42<00:11,  1.02it/s]
 96%|█████████▋| 289/300 [17:09<01:39,  9.02s/it]
 97%|█████████▋| 290/300 [17:10<01:03,  6.39s/it]
 97%|█████████▋| 291/300 [17:10<00:40,  4.54s/it]
 97%|█████████▋| 292/300 [17:10<00:26,  3.25s/it]
 98%|█████████▊| 293/300 [17:10<00:16,  2.36s/it]
 98%|█████████▊| 294/300 [17:11<00:10,  1.73s/it]
 98%|█████████▊| 295/300 [17:11<00:06,  1.28s/it]
 99%|█████████▊| 296/300 [17:11<00:03,  1.02it/s]
 99%|█████████▉| 297/300 [17:32<00:20,  6.96s/it]
 99%|█████████▉| 298/300 [17:32<00:09,  4.95s/it]
100%|█████████▉| 299/300 [17:33<00:03,  3.55s/it]
100%|█████████▉| 299/300 [17:33<00:03,  3.52s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json.
+BowlStackingRightOnLeftTask_1 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_1, run: 1, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: False, episode_step: 300, duration: 20.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.547882261815219, 'joint_sparc_mean': -7.8120289710010775, 'ee_isj': 928.342412185805, 'joint_isj': 56206.375260259476, 'ee_path_length': 2.124673463606034, 'joint_rmse_mean': 1.0658932768373537, 'ee_speed_max': 0.3494671583175659, 'ee_speed_mean': 0.10136149078607559}, events: {'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 5, 'OBJECT_BUMPED': 4, 'wrong_objects_grabbed': ['bowl_2', 'bowl_2', 'bowl_2', 'bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 985.825, 'policy_inference_avg_ms': 3286.1, 'env_step_s': 64.823, 'env_step_avg_ms': 216.1, 'video_write_s': 2.705, 'video_write_avg_ms': 9.0, 'wall_total_s': 1053.353, 'it_per_sec': 0.28}, score: 0.0, reason: Condition not satisfied: object_in_container(object=['bowl_1'], container=bowl_2, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1), harness_episode_id: 3035825e2c0c40a89d49a777a45985ce-1
+[RoboLab] Running BowlStackingRightOnLeftTask_2: 'Stack the right bowl on the left bowl' (run 2, 1 envs)
+
  0%|          | 0/300 [00:00<?, ?it/s]
  0%|          | 1/300 [00:50<4:09:47, 50.13s/it]
  1%|          | 2/300 [00:50<1:43:14, 20.79s/it]
  1%|          | 3/300 [00:50<56:25, 11.40s/it]  
  1%|▏         | 4/300 [00:50<34:30,  7.00s/it]
  2%|▏         | 5/300 [00:51<22:23,  4.55s/it]
  2%|▏         | 6/300 [00:51<15:05,  3.08s/it]
  2%|▏         | 7/300 [00:51<10:28,  2.15s/it]
  3%|▎         | 8/300 [00:51<07:28,  1.53s/it]
  3%|▎         | 9/300 [01:06<27:22,  5.64s/it]
  3%|▎         | 10/300 [01:06<19:11,  3.97s/it]
  4%|▎         | 11/300 [01:06<13:35,  2.82s/it]
  4%|▍         | 12/300 [01:07<09:45,  2.03s/it]
  4%|▍         | 13/300 [01:07<07:06,  1.49s/it]
  5%|▍         | 14/300 [01:07<05:15,  1.10s/it]
  5%|▌         | 15/300 [01:07<03:58,  1.19it/s]
  5%|▌         | 16/300 [01:07<03:04,  1.54it/s]
  6%|▌         | 17/300 [01:42<51:39, 10.95s/it]
  6%|▌         | 18/300 [01:43<36:22,  7.74s/it]
  6%|▋         | 19/300 [01:43<25:40,  5.48s/it]
  7%|▋         | 20/300 [01:43<18:13,  3.91s/it]
  7%|▋         | 21/300 [01:43<13:00,  2.80s/it]
  7%|▋         | 22/300 [01:44<09:26,  2.04s/it]
  8%|▊         | 23/300 [01:44<06:54,  1.50s/it]
  8%|▊         | 24/300 [01:44<05:07,  1.11s/it]
  8%|▊         | 25/300 [02:20<53:22, 11.65s/it]
  9%|▊         | 26/300 [02:20<37:33,  8.22s/it]
  9%|▉         | 27/300 [02:21<26:29,  5.82s/it]
  9%|▉         | 28/300 [02:21<18:48,  4.15s/it]
 10%|▉         | 29/300 [02:21<13:24,  2.97s/it]
 10%|█         | 30/300 [02:21<09:41,  2.15s/it]
 10%|█         | 31/300 [02:22<07:03,  1.57s/it]
 11%|█         | 32/300 [02:22<05:14,  1.17s/it]
 11%|█         | 33/300 [02:46<36:11,  8.13s/it]
 11%|█▏        | 34/300 [02:46<25:32,  5.76s/it]
 12%|█▏        | 35/300 [02:47<18:07,  4.10s/it]
 12%|█▏        | 36/300 [02:47<12:59,  2.95s/it]
 12%|█▏        | 37/300 [02:47<09:22,  2.14s/it]
 13%|█▎        | 38/300 [02:47<06:52,  1.57s/it]
 13%|█▎        | 39/300 [02:48<05:04,  1.17s/it]
 13%|█▎        | 40/300 [02:48<03:52,  1.12it/s]
 14%|█▎        | 41/300 [03:02<20:30,  4.75s/it]
 14%|█▍        | 42/300 [03:02<14:37,  3.40s/it]
 14%|█▍        | 43/300 [03:02<10:30,  2.45s/it]
 15%|█▍        | 44/300 [03:02<07:39,  1.80s/it]
 15%|█▌        | 45/300 [03:03<05:39,  1.33s/it]
 15%|█▌        | 46/300 [03:03<04:18,  1.02s/it]
 16%|█▌        | 47/300 [03:03<03:19,  1.27it/s]
 16%|█▌        | 48/300 [03:04<02:38,  1.59it/s]
 16%|█▋        | 49/300 [03:16<16:58,  4.06s/it]
 17%|█▋        | 50/300 [03:16<12:10,  2.92s/it]
 17%|█▋        | 51/300 [03:16<08:45,  2.11s/it]
 17%|█▋        | 52/300 [03:16<06:24,  1.55s/it]
 18%|█▊        | 53/300 [03:17<04:45,  1.15s/it]
 18%|█▊        | 54/300 [03:17<03:37,  1.13it/s]
 18%|█▊        | 55/300 [03:17<02:49,  1.45it/s]
 19%|█▊        | 56/300 [03:17<02:16,  1.79it/s]
 19%|█▉        | 57/300 [03:42<31:14,  7.72s/it]
 19%|█▉        | 58/300 [03:42<22:05,  5.48s/it]
 20%|█▉        | 59/300 [03:42<15:43,  3.91s/it]
 20%|██        | 60/300 [03:42<11:14,  2.81s/it]
 20%|██        | 61/300 [03:43<08:05,  2.03s/it]
 21%|██        | 62/300 [03:43<05:55,  1.49s/it]
 21%|██        | 63/300 [03:43<04:26,  1.12s/it]
 21%|██▏       | 64/300 [03:43<03:21,  1.17it/s]
 22%|██▏       | 65/300 [03:56<16:49,  4.30s/it]
 22%|██▏       | 66/300 [03:56<12:01,  3.08s/it]
 22%|██▏       | 67/300 [03:56<08:37,  2.22s/it]
 23%|██▎       | 68/300 [03:56<06:18,  1.63s/it]
 23%|██▎       | 69/300 [03:57<04:39,  1.21s/it]
 23%|██▎       | 70/300 [03:57<03:32,  1.08it/s]
 24%|██▎       | 71/300 [03:57<02:43,  1.40it/s]
 24%|██▍       | 72/300 [03:57<02:09,  1.76it/s]
 24%|██▍       | 73/300 [04:12<17:51,  4.72s/it]
 25%|██▍       | 74/300 [04:12<12:42,  3.38s/it]
 25%|██▌       | 75/300 [04:12<09:07,  2.43s/it]
 25%|██▌       | 76/300 [04:13<06:39,  1.78s/it]
 26%|██▌       | 77/300 [04:13<04:54,  1.32s/it]
 26%|██▌       | 78/300 [04:13<03:43,  1.01s/it]
 26%|██▋       | 79/300 [04:13<02:52,  1.28it/s]
 27%|██▋       | 80/300 [04:14<02:16,  1.62it/s]
 27%|██▋       | 81/300 [04:24<13:25,  3.68s/it]
 27%|██▋       | 82/300 [04:25<09:39,  2.66s/it]
 28%|██▊       | 83/300 [04:25<07:00,  1.94s/it]
 28%|██▊       | 84/300 [04:25<05:08,  1.43s/it]
 28%|██▊       | 85/300 [04:25<03:51,  1.08s/it]
 29%|██▊       | 86/300 [04:26<02:57,  1.20it/s]
 29%|██▉       | 87/300 [04:26<02:20,  1.51it/s]
 29%|██▉       | 88/300 [04:26<01:54,  1.86it/s]
 30%|██▉       | 89/300 [04:41<17:03,  4.85s/it]
 30%|███       | 90/300 [04:41<12:09,  3.47s/it]
 30%|███       | 91/300 [04:42<08:43,  2.51s/it]
 31%|███       | 92/300 [04:42<06:20,  1.83s/it]
 31%|███       | 93/300 [04:42<04:40,  1.35s/it]
 31%|███▏      | 94/300 [04:42<03:30,  1.02s/it]
 32%|███▏      | 95/300 [04:43<02:41,  1.27it/s]
 32%|███▏      | 96/300 [04:43<02:07,  1.60it/s]
 32%|███▏      | 97/300 [05:10<28:43,  8.49s/it]
 33%|███▎      | 98/300 [05:10<20:16,  6.02s/it]
 33%|███▎      | 99/300 [05:10<14:22,  4.29s/it]
 33%|███▎      | 100/300 [05:10<10:15,  3.08s/it]
 34%|███▎      | 101/300 [05:11<07:21,  2.22s/it]
 34%|███▍      | 102/300 [05:11<05:22,  1.63s/it]
 34%|███▍      | 103/300 [05:11<03:58,  1.21s/it]
 35%|███▍      | 104/300 [05:11<02:59,  1.09it/s]
 35%|███▌      | 105/300 [05:49<38:54, 11.97s/it]
 35%|███▌      | 106/300 [05:49<27:18,  8.45s/it]
 36%|███▌      | 107/300 [05:50<19:13,  5.98s/it]
 36%|███▌      | 108/300 [05:50<13:37,  4.26s/it]
 36%|███▋      | 109/300 [05:50<09:41,  3.05s/it]
 37%|███▋      | 110/300 [05:50<06:59,  2.21s/it]
 37%|███▋      | 111/300 [05:50<05:04,  1.61s/it]
 37%|███▋      | 112/300 [05:51<03:46,  1.21s/it]
 38%|███▊      | 113/300 [06:24<33:58, 10.90s/it]
 38%|███▊      | 114/300 [06:24<23:52,  7.70s/it]
 38%|███▊      | 115/300 [06:25<16:49,  5.46s/it]
 39%|███▊      | 116/300 [06:25<11:55,  3.89s/it]
 39%|███▉      | 117/300 [06:25<08:30,  2.79s/it]
 39%|███▉      | 118/300 [06:25<06:09,  2.03s/it]
 40%|███▉      | 119/300 [06:26<04:28,  1.49s/it]
 40%|████      | 120/300 [06:26<03:19,  1.11s/it]
 40%|████      | 121/300 [06:51<25:09,  8.43s/it]
 41%|████      | 122/300 [06:52<17:43,  5.98s/it]
 41%|████      | 123/300 [06:52<12:32,  4.25s/it]
 41%|████▏     | 124/300 [06:52<08:55,  3.04s/it]
 42%|████▏     | 125/300 [06:52<06:24,  2.20s/it]
 42%|████▏     | 126/300 [06:53<04:40,  1.61s/it]
 42%|████▏     | 127/300 [06:53<03:27,  1.20s/it]
 43%|████▎     | 128/300 [06:53<02:35,  1.11it/s]
 43%|████▎     | 129/300 [07:11<17:00,  5.97s/it]
 43%|████▎     | 130/300 [07:11<12:02,  4.25s/it]
 44%|████▎     | 131/300 [07:11<08:33,  3.04s/it]
 44%|████▍     | 132/300 [07:11<06:08,  2.19s/it]
 44%|████▍     | 133/300 [07:12<04:26,  1.60s/it]
 45%|████▍     | 134/300 [07:12<03:17,  1.19s/it]
 45%|████▌     | 135/300 [07:12<02:29,  1.10it/s]
 45%|████▌     | 136/300 [07:12<01:54,  1.43it/s]
 46%|████▌     | 137/300 [07:27<12:55,  4.76s/it]
 46%|████▌     | 138/300 [07:27<09:10,  3.40s/it]
 46%|████▋     | 139/300 [07:27<06:33,  2.45s/it]
 47%|████▋     | 140/300 [07:27<04:44,  1.78s/it]
 47%|████▋     | 141/300 [07:28<03:28,  1.31s/it]
 47%|████▋     | 142/300 [07:28<02:35,  1.02it/s]
 48%|████▊     | 143/300 [07:28<01:58,  1.32it/s]
 48%|████▊     | 144/300 [07:28<01:34,  1.65it/s]
 48%|████▊     | 145/300 [07:59<25:19,  9.80s/it]
 49%|████▊     | 146/300 [08:00<17:46,  6.92s/it]
 49%|████▉     | 147/300 [08:00<12:31,  4.91s/it]
 49%|████▉     | 148/300 [08:00<08:52,  3.50s/it]
 50%|████▉     | 149/300 [08:00<06:19,  2.52s/it]
 50%|█████     | 150/300 [08:01<04:34,  1.83s/it]
 50%|█████     | 151/300 [08:01<03:20,  1.35s/it]
 51%|█████     | 152/300 [08:01<02:29,  1.01s/it]
 51%|█████     | 153/300 [08:20<15:32,  6.34s/it]
 51%|█████▏    | 154/300 [08:20<10:58,  4.51s/it]
 52%|█████▏    | 155/300 [08:20<07:48,  3.23s/it]
 52%|█████▏    | 156/300 [08:21<05:36,  2.34s/it]
 52%|█████▏    | 157/300 [08:21<04:04,  1.71s/it]
 53%|█████▎    | 158/300 [08:21<03:00,  1.27s/it]
 53%|█████▎    | 159/300 [08:21<02:15,  1.04it/s]
 53%|█████▎    | 160/300 [08:21<01:44,  1.34it/s]
 54%|█████▎    | 161/300 [08:37<11:59,  5.18s/it]
 54%|█████▍    | 162/300 [08:37<08:30,  3.70s/it]
 54%|█████▍    | 163/300 [08:37<06:04,  2.66s/it]
 55%|█████▍    | 164/300 [08:38<04:23,  1.94s/it]
 55%|█████▌    | 165/300 [08:38<03:12,  1.43s/it]
 55%|█████▌    | 166/300 [08:38<02:24,  1.08s/it]
 56%|█████▌    | 167/300 [08:38<01:50,  1.20it/s]
 56%|█████▌    | 168/300 [08:39<01:27,  1.51it/s]
 56%|█████▋    | 169/300 [09:09<20:30,  9.39s/it]
 57%|█████▋    | 170/300 [09:09<14:25,  6.66s/it]
 57%|█████▋    | 171/300 [09:09<10:10,  4.73s/it]
 57%|█████▋    | 172/300 [09:09<07:13,  3.39s/it]
 58%|█████▊    | 173/300 [09:10<05:12,  2.46s/it]
 58%|█████▊    | 174/300 [09:10<03:46,  1.80s/it]
 58%|█████▊    | 175/300 [09:10<02:47,  1.34s/it]
 59%|█████▊    | 176/300 [09:10<02:05,  1.01s/it]
 59%|█████▉    | 177/300 [09:31<14:13,  6.94s/it]
 59%|█████▉    | 178/300 [09:31<10:02,  4.94s/it]
 60%|█████▉    | 179/300 [09:32<07:07,  3.53s/it]
 60%|██████    | 180/300 [09:32<05:06,  2.56s/it]
 60%|██████    | 181/300 [09:32<03:41,  1.86s/it]
 61%|██████    | 182/300 [09:32<02:43,  1.38s/it]
 61%|██████    | 183/300 [09:33<02:02,  1.04s/it]
 61%|██████▏   | 184/300 [09:33<01:32,  1.25it/s]
 62%|██████▏   | 185/300 [09:56<14:24,  7.52s/it]
 62%|██████▏   | 186/300 [09:56<10:09,  5.34s/it]
 62%|██████▏   | 187/300 [09:57<07:10,  3.81s/it]
 63%|██████▎   | 188/300 [09:57<05:07,  2.75s/it]
 63%|██████▎   | 189/300 [09:57<03:41,  1.99s/it]
 63%|██████▎   | 190/300 [09:57<02:43,  1.48s/it]
 64%|██████▎   | 191/300 [09:58<02:00,  1.11s/it]
 64%|██████▍   | 192/300 [09:58<01:32,  1.17it/s]
 64%|██████▍   | 193/300 [10:14<09:35,  5.38s/it]
 65%|██████▍   | 194/300 [10:14<06:46,  3.84s/it]
 65%|██████▌   | 195/300 [10:14<04:49,  2.75s/it]
 65%|██████▌   | 196/300 [10:15<03:27,  2.00s/it]
 66%|██████▌   | 197/300 [10:15<02:31,  1.47s/it]
 66%|██████▌   | 198/300 [10:15<01:52,  1.10s/it]
 66%|██████▋   | 199/300 [10:15<01:24,  1.19it/s]
 67%|██████▋   | 200/300 [10:15<01:05,  1.53it/s]
 67%|██████▋   | 201/300 [11:30<37:45, 22.88s/it]
 67%|██████▋   | 202/300 [11:30<26:15, 16.08s/it]
 68%|██████▊   | 203/300 [11:31<18:18, 11.32s/it]
 68%|██████▊   | 204/300 [11:31<12:47,  7.99s/it]
 68%|██████▊   | 205/300 [11:31<08:57,  5.66s/it]
 69%|██████▊   | 206/300 [11:31<06:18,  4.03s/it]
 69%|██████▉   | 207/300 [11:32<04:28,  2.88s/it]
 69%|██████▉   | 208/300 [11:32<03:12,  2.09s/it]
 70%|██████▉   | 209/300 [11:51<10:57,  7.22s/it]
 70%|███████   | 210/300 [11:51<07:40,  5.12s/it]
 70%|███████   | 211/300 [11:51<05:24,  3.65s/it]
 71%|███████   | 212/300 [11:52<03:50,  2.62s/it]
 71%|███████   | 213/300 [11:52<02:45,  1.90s/it]
 71%|███████▏  | 214/300 [11:52<02:00,  1.40s/it]
 72%|███████▏  | 215/300 [11:52<01:28,  1.05s/it]
 72%|███████▏  | 216/300 [11:52<01:06,  1.26it/s]
 72%|███████▏  | 217/300 [12:14<09:32,  6.90s/it]
 73%|███████▎  | 218/300 [12:14<06:42,  4.91s/it]
 73%|███████▎  | 219/300 [12:14<04:44,  3.52s/it]
 73%|███████▎  | 220/300 [12:14<03:23,  2.55s/it]
 74%|███████▎  | 221/300 [12:15<02:26,  1.86s/it]
 74%|███████▍  | 222/300 [12:15<01:47,  1.38s/it]
 74%|███████▍  | 223/300 [12:15<01:20,  1.04s/it]
 75%|███████▍  | 224/300 [12:15<01:01,  1.24it/s]
 75%|███████▌  | 225/300 [12:45<11:49,  9.46s/it]
 75%|███████▌  | 226/300 [12:45<08:15,  6.70s/it]
 76%|███████▌  | 227/300 [12:46<05:47,  4.77s/it]
 76%|███████▌  | 228/300 [12:46<04:06,  3.42s/it]
 76%|███████▋  | 229/300 [12:46<02:55,  2.47s/it]
 77%|███████▋  | 230/300 [12:46<02:06,  1.81s/it]
 77%|███████▋  | 231/300 [12:47<01:32,  1.35s/it]
 77%|███████▋  | 232/300 [12:47<01:09,  1.03s/it]
 78%|███████▊  | 233/300 [13:15<10:07,  9.07s/it]
 78%|███████▊  | 234/300 [13:15<07:03,  6.42s/it]
 78%|███████▊  | 235/300 [13:15<04:57,  4.57s/it]
 79%|███████▊  | 236/300 [13:16<03:30,  3.29s/it]
 79%|███████▉  | 237/300 [13:16<02:29,  2.37s/it]
 79%|███████▉  | 238/300 [13:16<01:48,  1.75s/it]
 80%|███████▉  | 239/300 [13:16<01:19,  1.30s/it]
 80%|████████  | 240/300 [13:17<00:59,  1.01it/s]
 80%|████████  | 241/300 [13:34<05:39,  5.75s/it]
 81%|████████  | 242/300 [13:34<03:58,  4.11s/it]
 81%|████████  | 243/300 [13:34<02:48,  2.96s/it]
 81%|████████▏ | 244/300 [13:34<02:00,  2.15s/it]
 82%|████████▏ | 245/300 [13:35<01:27,  1.58s/it]
 82%|████████▏ | 246/300 [13:35<01:04,  1.19s/it]
 82%|████████▏ | 247/300 [13:35<00:48,  1.10it/s]
 83%|████████▎ | 248/300 [13:35<00:37,  1.40it/s]
 83%|████████▎ | 249/300 [13:55<05:30,  6.48s/it]
 83%|████████▎ | 250/300 [13:56<03:50,  4.62s/it]
 84%|████████▎ | 251/300 [13:56<02:42,  3.31s/it]
 84%|████████▍ | 252/300 [13:56<01:54,  2.39s/it]
 84%|████████▍ | 253/300 [13:56<01:22,  1.75s/it]
 85%|████████▍ | 254/300 [13:57<00:59,  1.30s/it]
 85%|████████▌ | 255/300 [13:57<00:44,  1.01it/s]
 85%|████████▌ | 256/300 [13:57<00:33,  1.30it/s]
 86%|████████▌ | 257/300 [14:17<04:43,  6.60s/it]
 86%|████████▌ | 258/300 [14:18<03:17,  4.71s/it]
 86%|████████▋ | 259/300 [14:18<02:18,  3.37s/it]
 87%|████████▋ | 260/300 [14:18<01:37,  2.45s/it]
 87%|████████▋ | 261/300 [14:18<01:09,  1.79s/it]
 87%|████████▋ | 262/300 [14:19<00:50,  1.33s/it]
 88%|████████▊ | 263/300 [14:19<00:37,  1.01s/it]
 88%|████████▊ | 264/300 [14:19<00:28,  1.28it/s]
 88%|████████▊ | 265/300 [14:43<04:30,  7.72s/it]
 89%|████████▊ | 266/300 [14:43<03:06,  5.49s/it]
 89%|████████▉ | 267/300 [14:44<02:09,  3.92s/it]
 89%|████████▉ | 268/300 [14:44<01:30,  2.83s/it]
 90%|████████▉ | 269/300 [14:44<01:03,  2.06s/it]
 90%|█████████ | 270/300 [14:44<00:45,  1.52s/it]
 90%|█████████ | 271/300 [14:45<00:33,  1.15s/it]
 91%|█████████ | 272/300 [14:45<00:24,  1.13it/s]
 91%|█████████ | 273/300 [15:16<04:29,  9.97s/it]
 91%|█████████▏| 274/300 [15:16<03:03,  7.07s/it]
 92%|█████████▏| 275/300 [15:17<02:05,  5.02s/it]
 92%|█████████▏| 276/300 [15:17<01:26,  3.59s/it]
 92%|█████████▏| 277/300 [15:17<00:59,  2.59s/it]
 93%|█████████▎| 278/300 [15:17<00:41,  1.89s/it]
 93%|█████████▎| 279/300 [15:18<00:29,  1.40s/it]
 93%|█████████▎| 280/300 [15:18<00:21,  1.05s/it]
 94%|█████████▎| 281/300 [15:38<02:10,  6.87s/it]
 94%|█████████▍| 282/300 [15:39<01:27,  4.88s/it]
 94%|█████████▍| 283/300 [15:39<00:59,  3.49s/it]
 95%|█████████▍| 284/300 [15:39<00:40,  2.52s/it]
 95%|█████████▌| 285/300 [15:39<00:27,  1.84s/it]
 95%|█████████▌| 286/300 [15:40<00:19,  1.36s/it]
 96%|█████████▌| 287/300 [15:40<00:13,  1.02s/it]
 96%|█████████▌| 288/300 [15:40<00:09,  1.25it/s]
 96%|█████████▋| 289/300 [15:59<01:09,  6.32s/it]
 97%|█████████▋| 290/300 [16:00<00:44,  4.49s/it]
 97%|█████████▋| 291/300 [16:00<00:28,  3.21s/it]
 97%|█████████▋| 292/300 [16:00<00:18,  2.32s/it]
 98%|█████████▊| 293/300 [16:00<00:11,  1.70s/it]
 98%|█████████▊| 294/300 [16:01<00:07,  1.26s/it]
 98%|█████████▊| 295/300 [16:01<00:04,  1.05it/s]
 99%|█████████▊| 296/300 [16:01<00:02,  1.35it/s]
 99%|█████████▉| 297/300 [16:36<00:33, 11.05s/it]
 99%|█████████▉| 298/300 [16:36<00:15,  7.81s/it]
100%|█████████▉| 299/300 [16:37<00:05,  5.54s/it]
100%|█████████▉| 299/300 [16:37<00:03,  3.34s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json.
+BowlStackingRightOnLeftTask_2 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_2, run: 2, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: False, episode_step: 300, duration: 20.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.656469510448469, 'joint_sparc_mean': -8.910155732670917, 'ee_isj': 1723.8809009747288, 'joint_isj': 44356.68177555838, 'ee_path_length': 2.807388278174493, 'joint_rmse_mean': 0.960025751198182, 'ee_speed_max': 0.5637040138244629, 'ee_speed_mean': 0.13257767260074615}, events: {'GRIPPER_FULLY_CLOSED': 6, 'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 6, 'wrong_objects_grabbed': ['bowl_2', 'bowl_2', 'bowl_2', 'bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 932.07, 'policy_inference_avg_ms': 3106.9, 'env_step_s': 62.526, 'env_step_avg_ms': 208.4, 'video_write_s': 2.706, 'video_write_avg_ms': 9.0, 'wall_total_s': 997.303, 'it_per_sec': 0.3}, score: 0.0, reason: Condition not satisfied: object_in_container(object=['bowl_1'], container=bowl_2, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1), harness_episode_id: 3d38dca7de0f494cbec32ecc107836da-2
+----------------------------------------------------------------------- EXPERIMENT SUMMARY -----------------------------------------------------------------------
+Task Name                      Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (4 tasks)                9/12     75.0%   [46.2-90.9]    0.750        0.000       18.56   -6.96    2.91       14.9        0.30 16.1       
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananasInBinThreeTotalTask     3/3      100.0%  [39.8-99.4]    1.000        -           12.33   -6.50    2.64       19.9        0.30 10.8       
+BowlStackingRightOnLeftTask    0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -7.03    2.46       11.7        0.29 17.1       
+OneBottleInSquarePailTask      3/3      100.0%  [39.8-99.4]    1.000        -           18.02   -6.91    2.27       12.1        0.30 15.6       
+PlasticBottlesInSquarePailTask 3/3      100.0%  [39.8-99.4]    1.000        -           25.31   -7.41    4.28       15.9        0.30 20.9       
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..024537a3f67ad9da1622743696cc9a54b0593d22
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81e6a083e87db3e9c857b120a5648996144b39ca4a6844a17a6323f89680d532
+size 23657
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..095e0569613af7349ef2b98be73d594e7c88356e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9b154ffb4712b697752e9f9317ecc30f18d468453ed6ed723ec437c2369cea2
+size 1309909
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fc5d7874f8a78cf5c96fceeee103e1e2fad6c55e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5943585a04f1fe4b9906eea238f885e0e1b09ed2cd19f62a60fb921c97ca14ad
+size 64345439
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..88bbc1ea82cede7b17e74c62af0118a53233c6a9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2867720db9db12a7c044b830cba0960a683aba447fbf5977d7f8c770f7667407
+size 13885
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00757f4dc284169d04e15a715ab6a1284e513e7a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d7d8cf20ff5e08849e39b6bdaa59b7e5e8c789dc62258d334416d1c285da4e6
+size 72189913
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f70f463cba89035192344ca560617124257bf94a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b8f156b5784a01d258a670e3ef15230e96304b1428fa16d4c3232654ea10d02
+size 16481
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..47f84453a9d352c3a809423edc441357b94d8a06
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fba403144ac8324672fe3f9fc968afd211043538cf849013292b20739e638de7
+size 78395870
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..acfe871ecea2fa7b2755ccaec6ecf3b3342ca192
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1120e748af2ef50fb7b4b49f4bb5cafbc10ea4e7f06f0fb37d5e1e748f54c9a9
+size 16423
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e4e7380d9360f373b2123a5fffe60bd2f427a92
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4865b89babbb69c59305cb4e566e58ac4ac3771edc4a1e404256c367375f61f7
+size 57509010
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..abe88c4a3dd4a4cd20b3a4213d96068202cdf7bf
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614aa69ce7dbfe3fa31edd42e6b516e1276de471a8e7c5847b389141134a110c
+size 11926
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02f13a7f8803935bc7e9e51a84dccc19987c92ce
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac5f60bb9e61d9cfc992c5be3155d7659ebb78a4e3c63ecc8b2ff06d329c7a8
+size 61083265
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..17038c1552b9acf8b0dd57c03de207e2a397e04e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef55509fb5336fed28b2312e6051a8fe2098f95c6a1abb1d4d9ee40bbdfd0626
+size 13324
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..948be69b66d8a827c822af8d3f0421ba35a4b7dd
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:735cc1cc8989aaafcafeeecd26fa3ddce850e9d96481cf423c08d4152239b884
+size 41961638
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4eca607e67eee0e89e145e7e62621295ec94532d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:313ffd02ac0974ca28f4c35e1b42258c773968575297a65de6f7baeefd9ff5cc
+size 8844
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fca90b3c5118527ba97887d9c6ca01ecf9cf476e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13428d7ba3f25af16b6930c16af1ae1a655e4c25d32efdc23a8e466e124fa875
+size 58429366
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe1a600d9649f45cc942c48c0b12af26322ed519
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1f2c37523b6745a2448041312f757df5f56cbc56ae5d683d8152650d03cb0a
+size 13324
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d4a1f126c494aaf5d4061b4f44c51cc3ee2cb1b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d28b1d5055f7d3c868eb95c0676a433064e7cc6935399a5c8ceb084dbb1cef24
+size 23560563
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8cb67916e6ddeeec27f4e353772e8723d8ff1601
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:154d6407c8bb7aebc2fd4360296495920bbd29b924dfbf1eaf5af331e970fcb8
+size 6234
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..20b4081139b35dd43889b0fd268b7463e5e7a843
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e22a818c698dee9dc4110ec4fecf4415f8b8f177b3cf3590e9af747428463b6
+size 24710474
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dbbd2bbd66aa3fe81538f368ec6868515caf7a3c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31de73cf7c3105d7d956de785295f9b24b3ce1d7fa9d672262481edcbe2ebff2
+size 6234
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0010/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0010/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b56170cd0c0b89ca27d613fabdc9cd2a3e035a43
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0010/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98ba52682a78a513b04f76276b90288ea178b4218b8f6cdac7fbbac107fe8806
+size 68981902
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0010/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0010/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..520a4b410bc1d980302c82742703d8d1f9767366
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0010/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b7f6a617a682766eb679c80a2ed81485d17fe5e3464d29e8ef577f0463831fe
+size 12764
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0010/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0010/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0011/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0011/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0f60f173b586411b3fe3bf82f9d348ce8cf58c72
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0011/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da88f18af7b9e0d462565af4a6280ef78b224746200ed2bdf7f97021f6a1070a
+size 69201239
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0011/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0011/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b8c1a968e9aa35f50f351cc871a0ac7e6e8e24fb
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0011/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40af758cc74d811a61a2c6a8e244ab478520ec50a94df7f13c678e315538e668
+size 11922
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0011/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0011/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0012/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0012/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1e85380c0832a93ac469143d7b57bbfdf0fdf950
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0012/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cf563e75d935c10b8a0ec890212d434adcfe20bacbaaf2318fcc3e9e56035fd
+size 69675111
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0012/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0012/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b831cd9261af4cba39e18da357e456c1bb3ea54
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0012/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a837ff6f65f14428a83d1af42c891fe31eda190dc4fa0ab6e5cb03f8b104a992
+size 12484
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0012/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval/episode-0012/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f573632e8bee62688eeaca38f5b330f0cfad0c20
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:192bf2f4be6e69b8cb5a9993b8d181ae0ac580125eedc82b46b4217fac5e8b31
+size 4294811
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed93c5d5d891fce7c381e6999d99ecb025920127
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5aa8623afda7f0495138d10d587ada6fea985666390a6aa096b236963e967d7
+size 2084224
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f05696ae56cffd737254aad9e2541a71cc3655b9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e10b032ee0b3de642160551c402c5af544e6e36fbd0012f101ccd9481f04ef
+size 1510227
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f640a78bd570657551be68256cfc1e8b5ec15af
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:791e3d4d84ab374ee4e102dfbea504ccaf133f3374aa1e539d1109fa3506b415
+size 625830
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..996da981de7c55ede92b74d8cdfa7214c54ffcd6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a67b9a8a65b4fd6fd2bc41e03e3c0aed4d8cad2dffae575777b5e8abf9554fe8
+size 1500691
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49a126b13f24ab3f56dae8d3b9da72ccc7544355
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/Make_sure_there_are_3_three_bananas_in_the_grey_bin_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:037207a8db866dc12f86080b660af5b910d31a6bb308d75cf31918cbec2fed1b
+size 622508
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/env_cfg.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..123362b3e94e1c1265943c2365432ee8266acbe1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/env_cfg.json
@@ -0,0 +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:4", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/bananas_5_grey_bin.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": [0.1986086070537567, 0.02207084558904171, 0.05000215023756027], "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}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.4572347104549408, 0.13281071186065674, 0.06881386041641235], "rot": [0.9998323917388916, -0.0066386946972827295, -0.01367147034285098, -0.010208185983240194], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana_01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana_01", "spawn": null, "init_state": {"pos": [0.5051590204238892, 0.17553137242794037, 0.0916505679488182], "rot": [0.9383014440536499, -0.07088605686974415, 0.1061059999852131, -0.32141419351894324], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana_02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana_02", "spawn": null, "init_state": {"pos": [0.45876049995422363, -0.2314152717590332, 0.07583961635828018], "rot": [0.9923003315925598, -0.002646509948235513, -0.003143607709993421, -0.12378677488712357], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana_03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana_03", "spawn": null, "init_state": {"pos": [0.5301897525787354, 0.016014935448765755, 0.06842733919620514], "rot": [-0.42526885867118847, 0.006748795640065469, 0.00016480963996411322, 0.9050418909861002], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana_04": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana_04", "spawn": null, "init_state": {"pos": [0.5551273226737976, -0.20309223234653473, 0.07596556842327118], "rot": [0.2090113461017608, 0.005550577816772902, -0.0035618197001467044, 0.9778909764012825], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "grey_bin": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/grey_bin", "spawn": null, "init_state": {"pos": [0.5017970623368689, -0.22697487965471644, 0.05000000000000005], "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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/banana_01", "/World/envs/env_.*/scene/banana_02", "/World/envs/env_.*/scene/banana_03", "/World/envs/env_.*/scene/banana_04", "/World/envs/env_.*/scene/grey_bin"], "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_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__banana_01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_01"], "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_02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_02"], "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_03": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_03"], "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_04": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_04"], "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__grey_bin": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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_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__banana_01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_01"], "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__banana_02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_02"], "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__banana_03": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_03"], "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__banana_04": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_04"], "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__grey_bin": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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_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_01__banana_02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_02"], "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_01__banana_03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_03"], "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_01__banana_04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_04"], "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_01__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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_01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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_02__banana_03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_03"], "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_02__banana_04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_04"], "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_02__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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_02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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_03__banana_04": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana_04"], "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_03__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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_03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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_04__grey_bin": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_04", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/grey_bin"], "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_04__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana_04", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "grey_bin__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/grey_bin", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "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", "banana_01", "banana_03"], "container": "grey_bin", "logical": "choose", "K": 1, "require_gripper_detached": true, "require_contact_with": false}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7f3a3adf9940>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f3a3adf9760>, object='banana', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_01": [["functools.partial(<function object_grabbed at 0x7f3a3adf9940>, object='banana_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f3a3adf9760>, object='banana_01', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_03": [["functools.partial(<function object_grabbed at 0x7f3a3adf9940>, object='banana_03')", 0.0], ["functools.partial(<function object_in_container at 0x7f3a3adf9760>, object='banana_03', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "choose", "K": 1, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "counting", "moderate"], "_task_attributes": ["semantics", "counting", "moderate"], "_task_name": "BananasInBinThreeTotalTask", "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": "Make sure there are 3 (three) bananas in the grey bin.", "contact_object_list": ["banana", "banana_01", "banana_02", "banana_03", "banana_04", "grey_bin", "table"], "_instruction_variants": {"default": "Make sure there are 3 (three) bananas in the grey bin.", "vague": "3 bananas in the bin", "specific": "In addition to bananas in the bin, add one more banana to the grey bin until there are exactly three bananas inside"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3a955c0546e88d888904deb6f003449ece4940c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 0, "success": true, "final_step": 313, "events": [{"step": 53, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 60, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 61, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 61, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 66, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 68, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 68, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 79, "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": 263, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.057m", "score": 0.0}, {"step": 263, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.063m", "score": 0.0}, {"step": 266, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.057m", "score": 0.0}, {"step": 269, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.079m", "score": 0.0}, {"step": 277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.227m", "score": 0.0}, {"step": 277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.310m", "score": 0.0}, {"step": 277, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.257m", "score": 0.0}, {"step": 289, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.078m", "score": 0.0}, {"step": 304, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_02' nudged 0.279m", "score": 0.0}, {"step": 307, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_04' nudged 0.271m", "score": 0.0}, {"step": 307, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.276m", "score": 0.0}, {"step": 309, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['banana', 'banana_01', 'banana_03'])", "score": 0.0}, {"step": 309, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 309, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 313, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 1.0}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 313, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8505ea3e9a1e91f292cb258fca43324776ad2af
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 1, "success": true, "final_step": 121, "events": [{"step": 72, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 80, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 80, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 80, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 84, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 86, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 98, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 121, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..68732c5ff1cca5bb642f7548bb97aa3472d9d890
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 2, "success": true, "final_step": 121, "events": [{"step": 32, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_01). advanced 1 step(s) to step 1 for banana_01.", "score": 0.0}, {"step": 41, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 41, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_01). regressing to step 0 for banana_01.", "score": 0.0}, {"step": 43, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 43, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 45, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 45, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 73, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 83, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 83, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 84, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 121, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6f5ea5762dd62331f07f8c88785ae3e97d46fd93
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4838f773bbd24bf1341149f28ef76735de1b6159b0c8aaef80b8893bd0dae75d
+size 407664
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9d93177aa3fa7a9b4992cda6e4b0a726b96f4a53
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f45103d6878765140eac5786789bbc7ac10d3929d7578528773a2baf9a47f423
+size 297080
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..38d6c3397a8976ca10cb33c2f1e0fcc96e896933
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BananasInBinThreeTotalTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a14d8e6cd8a0148941e43af2b00d4ec62ccae4ba3a7ee96982bbdbddfd735bd
+size 296926
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51908c4c9e65145fb99781bc06eeef231433ea5f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:711c05c65a3bb0d6853b096576c68ccb682840fddc436e939bc37240b4a87ff0
+size 5267355
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7c9585c80c803741221a36b69ac67f46ea8199c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eae5368647fbcd40bcae6eca5fe082fd95d770d3abfc8c0c5eae899793a52bbc
+size 1655893
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..929e8c0d5efc22951b7b097d6c1f30d7adcbe833
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa18e4faa8530073d563361043c26af4237b3d3e4c0898635017686988d9bc13
+size 5340136
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..218239c2fa70755fa811b7270c4e602237cbbd91
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a99e5a6fa05b0ec4a20719539be70e642bb8ada66f042382b64fcbf6d2fc4fa
+size 1958347
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f47aee7dbedbb2d914642570e4a39b7f2336337
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e2adda406975d4dec053dc4d7fae49f1cd07b6d99f0c17d7c52a945b46390a
+size 5463309
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c19a2aeb204ed9678aff280873a58c9f937be3a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/Stack_the_right_bowl_on_the_left_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04b19e5d131451755fbe9d37d9ef12b3f612253b81388029320a66bae1284bdf
+size 1635017
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/env_cfg.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6d5bfd4b903f74a3f08c8c1f3b1f19aa2e4ee53
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/env_cfg.json
@@ -0,0 +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:4", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/bowls_2_table.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": [0.4884050190448761, -5.765136666013859e-05, -0.34700125455856323], "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_1": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl_1", "spawn": null, "init_state": {"pos": [0.4893045127391815, -0.18842542171478271, 0.0303815845400095], "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_2": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl_2", "spawn": null, "init_state": {"pos": [0.33596667647361755, 0.00012400129344314337, 0.030381567776203156], "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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl_1", "/World/envs/env_.*/scene/bowl_2"], "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_1": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl_1"], "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_2": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl_2"], "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_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_1__bowl_2": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl_2"], "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_1__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl_1", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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_2__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl_2", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 20, "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": ["bowl_1"], "container": "bowl_2", "gripper_name": "gripper", "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function object_in_container at 0x7f3a3adf9760>, object=['bowl_1'], container='bowl_2', gripper_name='gripper', require_contact_with=True, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "stack_bowl_right_on_left"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["spatial", "simple"], "_task_attributes": ["spatial", "simple"], "_task_name": "BowlStackingRightOnLeftTask", "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": "Stack the right bowl on the left bowl", "contact_object_list": ["bowl_1", "bowl_2", "table"], "_instruction_variants": {"default": "Stack the right bowl on the left bowl", "vague": "Stack the right bowl on the left", "specific": "Pick up the bowl to the right of the robot and place it on top of the bowl to the left of the robot"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..305798fc291f9aa4927b86897bafbd5221bbe605
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 0, "success": false, "final_step": 300, "events": [{"step": 58, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 58, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 59, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 62, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 64, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 74, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.068m", "score": 0.0}, {"step": 82, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.093m", "score": 0.0}, {"step": 95, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.051m", "score": 0.0}, {"step": 102, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.054m", "score": 0.0}, {"step": 103, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 122, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.099m", "score": 0.0}, {"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 167, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 168, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 169, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 173, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 203, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 209, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 225, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 228, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 228, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 229, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 246, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.068m", "score": 0.0}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 297, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 299, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3de923404efcc467c733e58b12a250a003ba4ea7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 1, "success": false, "final_step": 300, "events": [{"step": 41, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 41, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 50, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 75, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 82, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.065m", "score": 0.0}, {"step": 140, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 163, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.199m", "score": 0.0}, {"step": 190, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 194, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 197, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.085m", "score": 0.0}, {"step": 220, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 222, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.087m", "score": 0.0}, {"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 283, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..23c88e3737de34e20a75a107450b07557b5b6f1e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 2, "success": false, "final_step": 300, "events": [{"step": 42, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 46, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 46, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 50, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 73, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 84, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.119m", "score": 0.0}, {"step": 100, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 107, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.098m", "score": 0.0}, {"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 193, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.194m", "score": 0.0}, {"step": 206, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.114m", "score": 0.0}, {"step": 218, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 249, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.176m", "score": 0.0}, {"step": 281, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.143m", "score": 0.0}, {"step": 284, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6acac2f5e9e09f0b8754cbf849fd76829d38f32d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb5233c022de427eaeb802598cca148f7d73847025c489348b396693366d62e0
+size 250714
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c21a05c8a85437320601186823d5569a1d8fa564
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11048339a854c80acd70e1984a7d7e6f4b09c0a7de7391d21ef7f4803d65b454
+size 256049
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..932fb7c37d725b95a6fe0aa4cfbbfbe5b98b6df5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/BowlStackingRightOnLeftTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9df9d0434d0248830347c0c4c805f19acf42bd0ba1633d1ac57525d9896cc85
+size 253114
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb9ee726092c7a60e00364870bf6e77203cfb210
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e1d246919bb571b4362b3515727ff7db62647ff8cf3e9a32c91af1761d714ee
+size 6426362
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd87d7c3afb9f588733b556ae87eace645076bf1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a33ad7e5288bbee245e8591e61b4e2b4caf45d1c89006fa660cc6eec0d3c0b54
+size 1517598
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95ed30c52aa37748b5a466620b4fd1a2be934d5b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0d9c7843832760b5024b837cb6505e410ec878ad8bb29cf9920c57bafa36fb3
+size 6807790
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82f7edeae1b9be2d2ee2c5c3c139927999aa87a7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae91dc1a3b0a86a65d99fe5654e7246d9bcca460b2821b71c7b935b6bb9e600c
+size 1886124
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9c8950c184d58a4aeeb11b79edc54678384dbe8
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9b8e28c8ac23df17165f6796ab458e1c10dcf4cbff8f6976f81973a22de24c3
+size 4608790
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11360cd4ee5c01538f49468d426e3cc8a98462b7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/Put_any_white_plastic_bottle_in_the_square_pail_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc378f4d9415af22b27e4039765850347e9d024431b1e292e06e806057ffb3b
+size 1018499
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/env_cfg.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2c188eadbfd241376054a2d6e1648e88b7f7b3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/env_cfg.json
@@ -0,0 +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:4", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/shelf_with_cleaning_products.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}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.4951748251914978, 0.002323938999325037, 0.00303838774561882], "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}, "whitepackerbottle_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "spawn": null, "init_state": {"pos": [0.28736525774002075, 0.0023219173308461905, 0.0030435509979724884], "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}, "utilityjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "spawn": null, "init_state": {"pos": [0.5175222158432007, 0.13965396583080292, 0.0029999762773513794], "rot": [0.9827805757522583, 1.215864130171703e-07, 2.6798162516524354e-07, 0.18477645933390183], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "spawn": null, "init_state": {"pos": [0.3349469304084778, 0.39741018414497375, 0.06527079641819], "rot": [0.6131772994995115, 0.6131771190009222, 0.3521560420851528, 0.3521555652479958], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "squarepail_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "spawn": null, "init_state": {"pos": [0.4033661054547676, -0.1820307865632952, 0.002999909222126054], "rot": [0.7322364449501036, 4.1123793487004365e-07, 3.568093930259821e-07, 0.6810505037708565], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plasticpail_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "spawn": null, "init_state": {"pos": [-0.15762089192867051, -0.5730319619178744, 0.15215439857621735], "rot": [-0.6061230301856994, -0.00697792104548076, -0.00023375031548243696, 0.7953402581645034], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "spawn": null, "init_state": {"pos": [0.3588706087990672, 0.1415705985534548, 0.0], "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}, "table": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/table", "spawn": 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}, "large_storage_rack": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "spawn": 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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/whitepackerbottle_a02", "/World/envs/env_.*/scene/utilityjug_a01", "/World/envs/env_.*/scene/utilityjug_a02", "/World/envs/env_.*/scene/plasticpail_a02", "/World/envs/env_.*/scene/whitepackerbottle_a03", "/World/envs/env_.*/scene/large_storage_rack"], "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__squarepail_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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__whitepackerbottle_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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__whitepackerbottle_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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__utilityjug_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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__utilityjug_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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__plasticpail_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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__whitepackerbottle_a03": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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_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}}}}, "gripper__large_storage_rack": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "squarepail_a01__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "squarepail_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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}}}}, "squarepail_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "squarepail_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "squarepail_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "squarepail_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "squarepail_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "squarepail_a01__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "whitepackerbottle_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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}}}}, "whitepackerbottle_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "whitepackerbottle_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "whitepackerbottle_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "whitepackerbottle_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a01__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "whitepackerbottle_a02__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "whitepackerbottle_a02__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "whitepackerbottle_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "whitepackerbottle_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "whitepackerbottle_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a02__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "utilityjug_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "utilityjug_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "utilityjug_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "utilityjug_a01__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "utilityjug_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "utilityjug_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "utilityjug_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "utilityjug_a02__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "plasticpail_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "plasticpail_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "plasticpail_a02__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "whitepackerbottle_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a03__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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}}}}, "table__large_storage_rack": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/table", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "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": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "any", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7f3a3adf9940>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f3a3adf9760>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f3a3adf9940>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f3a3adf9760>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7f3a3adf9940>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7f3a3adf9760>, object='whitepackerbottle_a03', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "OneBottleInSquarePailTask", "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": "Put any white plastic bottle in the square pail", "contact_object_list": ["squarepail_a01", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "plasticpail_a02", "whitepackerbottle_a03", "table", "large_storage_rack"], "_instruction_variants": {"default": "Put any white plastic bottle in the square pail", "vague": "Put a bottle in the square pail", "specific": "Pick up one of the three white plastic bottles and place it inside the square pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..347de60a66ba7e42776e4ca7fa24f76037247bad
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 289, "events": [{"step": 56, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.058m", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 186, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 186, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 187, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 289, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..953d2ed58530549160183bad7e1f734fd3548bce
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 1, "success": true, "final_step": 321, "events": [{"step": 48, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 58, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 65, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.069m", "score": 0.0}, {"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 139, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 150, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 244, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 321, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..804bd7167a28edb140b01898510581bd40b599bc
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 2, "success": true, "final_step": 201, "events": [{"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 201, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4d0953c2520bc2f1414f4651b326bac9b215a469
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd67dc1accc70791c33158e9580f1dc0f89d6b4430144b78124ee52b565b44c
+size 365666
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d384d68d699b780b45aaeef2a5f9bf70ed80efd2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ead5478d5cb752fdfb71f3184014dcabbf8db79c940c6de7df20da0916d66b8
+size 381676
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f5e158142fc3a145e275b784ad5322b92f8079c2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/OneBottleInSquarePailTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:061a10db7a3b06aebf3ce6f21e956c4e2ef6c6ba614fdb6a000643e3ad3791b5
+size 324664
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d061047b149045d2fb464b2079fc5e5d43e352dd
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e480f822807cc596455f5f45ac117d163974eba8ed39bcec1cdfcd32a5a5ba1
+size 6936159
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae314103710b2e289dce140f2c9f146adb2a6579
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7fcb85a5db61ca0b3386dab04cc50edca4c2fd9d319bb919cb165b9da2b66ac
+size 1756631
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26e90cde3e00153f44fd2ed705c267c8a0b98f36
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0860534a8ff496e72b3d4a268ac118e0ea0b602615ead98974dfa074c2a714bc
+size 8093209
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5dd8fa945c65ba762543144155c7d2b993e4b492
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f488062e674da185c28fa252012e7be3f0f8d26505d835b3a0910023ec0705a9
+size 1734143
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3da84db7e3b88bab72e768f8d1b4cee04468bf4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a366502b53faf22b4c9729b09cbf4c5a4d45fa20b28b7004eea69b3fdec47604
+size 8548836
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcb251620b0728e0bc487c533ad9481d15d1b987
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/Put_all_the_small_plastic_bottles_in_the_square_pail_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e93256709d69bbed0271068b534ca6419d5405e5c44d147e16f67d2d2672c2f
+size 1712856
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/env_cfg.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..856644ba7658a2c981a47dabb7e79a42006fddd2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/env_cfg.json
@@ -0,0 +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:4", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/shelf_with_cleaning_products.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}, "whitepackerbottle_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "spawn": null, "init_state": {"pos": [0.4951748251914978, 0.002323938999325037, 0.00303838774561882], "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}, "whitepackerbottle_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "spawn": null, "init_state": {"pos": [0.28736525774002075, 0.0023219173308461905, 0.0030435509979724884], "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}, "utilityjug_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "spawn": null, "init_state": {"pos": [0.5175222158432007, 0.13965396583080292, 0.0029999762773513794], "rot": [0.9827805757522583, 1.215864130171703e-07, 2.6798162516524354e-07, 0.18477645933390183], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "utilityjug_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "spawn": null, "init_state": {"pos": [0.3349469304084778, 0.39741018414497375, 0.06527079641819], "rot": [0.6131772994995115, 0.6131771190009222, 0.3521560420851528, 0.3521555652479958], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "squarepail_a01": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "spawn": null, "init_state": {"pos": [0.4033661054547676, -0.1820307865632952, 0.002999909222126054], "rot": [0.7322364449501036, 4.1123793487004365e-07, 3.568093930259821e-07, 0.6810505037708565], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "plasticpail_a02": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "spawn": null, "init_state": {"pos": [-0.15762089192867051, -0.5730319619178744, 0.15215439857621735], "rot": [-0.6061230301856994, -0.00697792104548076, -0.00023375031548243696, 0.7953402581645034], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "whitepackerbottle_a03": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "spawn": null, "init_state": {"pos": [0.3588706087990672, 0.1415705985534548, 0.0], "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}, "table": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/table", "spawn": 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}, "large_storage_rack": {"class_type": null, "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "spawn": 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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack", "/World/envs/env_.*/scene/whitepackerbottle_a01", "/World/envs/env_.*/scene/whitepackerbottle_a02", "/World/envs/env_.*/scene/utilityjug_a01", "/World/envs/env_.*/scene/utilityjug_a02", "/World/envs/env_.*/scene/squarepail_a01", "/World/envs/env_.*/scene/plasticpail_a02", "/World/envs/env_.*/scene/whitepackerbottle_a03"], "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__large_storage_rack": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/large_storage_rack"], "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__whitepackerbottle_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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__whitepackerbottle_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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__utilityjug_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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__utilityjug_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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__squarepail_a01": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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__plasticpail_a02": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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__whitepackerbottle_a03": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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_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}}}}, "large_storage_rack__whitepackerbottle_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a01"], "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}}}}, "large_storage_rack__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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}}}}, "large_storage_rack__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "large_storage_rack__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "large_storage_rack__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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}}}}, "large_storage_rack__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "large_storage_rack__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "large_storage_rack__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/large_storage_rack", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a01__whitepackerbottle_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a02"], "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}}}}, "whitepackerbottle_a01__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "whitepackerbottle_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "whitepackerbottle_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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}}}}, "whitepackerbottle_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "whitepackerbottle_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "whitepackerbottle_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a02__utilityjug_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a01"], "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}}}}, "whitepackerbottle_a02__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "whitepackerbottle_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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}}}}, "whitepackerbottle_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "whitepackerbottle_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "whitepackerbottle_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "utilityjug_a01__utilityjug_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/utilityjug_a02"], "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}}}}, "utilityjug_a01__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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}}}}, "utilityjug_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "utilityjug_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "utilityjug_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "utilityjug_a02__squarepail_a01": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/squarepail_a01"], "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}}}}, "utilityjug_a02__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "utilityjug_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "utilityjug_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/utilityjug_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "squarepail_a01__plasticpail_a02": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/plasticpail_a02"], "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}}}}, "squarepail_a01__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "squarepail_a01__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/squarepail_a01", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "plasticpail_a02__whitepackerbottle_a03": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/whitepackerbottle_a03"], "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}}}}, "plasticpail_a02__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/plasticpail_a02", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "whitepackerbottle_a03__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/whitepackerbottle_a03", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 180, "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": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7f3a3adf9940>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f3a3adf9760>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f3a3adf9940>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f3a3adf9760>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7f3a3adf9940>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7f3a3adf9760>, object='whitepackerbottle_a03', container='squarepail_a01', 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", "sorting", "size", "complex"], "_task_attributes": ["semantics", "sorting", "size", "complex"], "_task_name": "PlasticBottlesInSquarePailTask", "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": "Put all the small plastic bottles in the square pail", "contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put all the small plastic bottles in the square pail", "vague": "Clean up small bottles in the square pail", "specific": "Pick up the three small plastic bottles and place them inside the square shaped pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7967470ccd73b37ce27f396c82a8ace5eb60007
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 345, "events": [{"step": 50, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 50, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 57, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 57, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 145, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 201, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 233, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 295, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.057m", "score": 0.6666666666666666}, {"step": 315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 345, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b225710ba0f9c794943fdb2fe906afb6c2f66d2f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 1, "success": true, "final_step": 377, "events": [{"step": 28, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.113m", "score": 0.0}, {"step": 58, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 97, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 99, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 99, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 145, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 189, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 189, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 217, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 274, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 298, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.177m", "score": 0.6666666666666666}, {"step": 311, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 313, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a02', 'whitepackerbottle_a03', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 313, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 315, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 377, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c4aa7c5d8aa8100264a3315b28a976ddcffa65c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 2, "success": true, "final_step": 417, "events": [{"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 79, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 86, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.115m", "score": 0.0}, {"step": 114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 121, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 124, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 124, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 170, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 244, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 244, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.3333333333333333}, {"step": 313, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 313, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a02, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a02. All conditions satisfied for whitepackerbottle_a02.", "score": 0.6666666666666666}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 417, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3077aa611b59a3cd7b95d99eb8c99109e1411ab8
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d676cdd31c72d880d9ee30b4874c2abf5d31acbcbbbfeacc40e547729c847bf1
+size 401492
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9e636b200000f2cf591dd5bc86b9e20ac17f3a4e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10bdf53dea86b88e4b4820ebd4de1d4ddbd06514a974e6ea4d25725710c47555
+size 413551
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a67f35bd735d4c5dfdb0df77e3c2bedd1e7d3143
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:912fb07103dbc7065073a55a97cf52a9100d71d3ec1d5e2ee95891b9bcf97755
+size 426569
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2328a3b4db7e27e717a7df16c42095975bb6c5ae
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d1386962476bc276effecb47ee981f0fd67a92e2b59004b201cd1cda7792da
+size 14827
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_4/server.log b/harness_robolab_exploration/embo_image640_v2/gpu_4/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..2747df916dfb0bfd0758a3becaf5e8d61db5f823
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_4/server.log
@@ -0,0 +1,36 @@
+[2026-11-03T14:47:21Z] GPU 4: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8100
+INFO:websockets.server:server listening on 127.0.0.1:8100
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 55358) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b6a2274e7b8d4af587103e96419217b9-0 (codex/gpt-6-astra) ended: wall=1195.521s harness=1069.278s tokens=3924574 usage_complete=False decisions=44 executed_steps=345 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c17f97b2b78f4bff8065a4120f9abce3-1 (codex/gpt-6-astra) ended: wall=1230.645s harness=1093.092s tokens=4528839 usage_complete=False decisions=48 executed_steps=377 steps_complete=True network_wait=6.432912722229958 rate_limit_wait=0 rate_limit_count=0 excluded=6.432912722229958 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7e71a4e4277d43b6b0482948eec93f25-2 (codex/gpt-6-astra) ended: wall=1337.609s harness=1187.052s tokens=4863138 usage_complete=False decisions=53 executed_steps=417 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode edbb6e931b20495b99a9f517ecb3b1b9-0 (codex/gpt-6-astra) ended: wall=976.819s harness=871.648s tokens=3205827 usage_complete=False decisions=37 executed_steps=289 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8df016c5f985496ab03241dbfbc2a342-1 (codex/gpt-6-astra) ended: wall=1202.166s harness=1088.552s tokens=3744699 usage_complete=False decisions=41 executed_steps=321 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e1f08ce7f4aa41a89401d85aca3630fa-2 (codex/gpt-6-astra) ended: wall=632.955s harness=560.061s tokens=2129139 usage_complete=False decisions=26 executed_steps=201 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 311c3c7ed493499890b136bb277f038a-0 (codex/gpt-6-astra) ended: wall=1155.364s harness=1046.373s tokens=3651403 usage_complete=False decisions=40 executed_steps=313 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode cef4ca0a7cfa4596bf2c326025ec7234-1 (codex/gpt-6-astra) ended: wall=365.371s harness=324.134s tokens=1357202 usage_complete=True decisions=16 executed_steps=121 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8376c599e5c44f37935aee1194e92e9c-2 (codex/gpt-6-astra) ended: wall=422.897s harness=381.653s tokens=1367832 usage_complete=True decisions=16 executed_steps=121 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode fe00652472964e68835278889964b541-0 (codex/gpt-6-astra) ended: wall=1029.467s harness=955.504s tokens=2885038 usage_complete=False decisions=38 executed_steps=300 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3035825e2c0c40a89d49a777a45985ce-1 (codex/gpt-6-astra) ended: wall=1053.519s harness=976.275s tokens=2767924 usage_complete=False decisions=38 executed_steps=300 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3d38dca7de0f494cbec32ecc107836da-2 (codex/gpt-6-astra) ended: wall=997.474s harness=922.664s tokens=3352194 usage_complete=False decisions=38 executed_steps=300 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_4/harness/20261103T144723.980423Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 55358) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/client.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..2c2ffa079daf5f7a912bee23b89fa65c404d9d9c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/client.log
@@ -0,0 +1,1969 @@
+[2026-11-03T14:47:21Z] GPU 5: Starting worker at FruitsOnionToPlateTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:5
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_144726.log
+2026-11-03T14:47:26Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T14:47:26Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T14:47:26Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T14:47:26Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T14:47:26Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T14:47:26Z [32ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T14:47:26Z [37ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T14:47:26Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T14:47:26Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T14:47:26Z [51ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T14:47:26Z [77ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T14:47:26Z [84ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T14:47:26Z [86ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T14:47:26Z [90ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T14:47:26Z [93ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T14:47:26Z [96ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T14:47:26Z [103ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T14:47:31Z [5,096ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:31Z [5,097ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:31Z [5,202ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T14:47:35Z [8,705ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:35Z [8,706ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:35Z [8,707ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 916083
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T14:47:39Z [12,776ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T14:47:39Z [12,776ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 899.14   9.21   9.28   2.16   5.61  10.50   8.80  10.19 
+     1   3.72 894.39   6.45  10.93   2.81   9.41  10.76  13.45 
+     2  16.10   9.52 899.02  15.05  14.87   3.42  13.65  11.79 
+     3  13.34  13.78  14.72 897.47   8.16  10.45   1.96   3.91 
+     4   9.21  10.16   8.90   5.09 924.37  21.00   2.15   2.22 
+     5  16.31  19.03  21.22  22.20   7.58 920.20  20.50  22.13 
+     6  19.71  21.29  21.57  22.41  21.27   5.22 929.45  20.96 
+     7  22.15  16.45  12.61  12.60  12.60  21.49   3.37 894.90 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.39  19.10  11.34  11.68  11.50  59.20  18.39  14.08 
+     1  11.63   1.36  11.39  11.52  13.90  12.01  14.89  54.02 
+     2  11.41  11.27   1.44  11.61  12.06  13.25  15.39  40.72 
+     3  11.64  11.35  11.26   1.43  16.26  14.03  13.17  25.26 
+     4  46.86  11.72  14.56  15.05   1.37  14.26  14.68  25.09 
+     5  45.71  12.32  15.31  15.33  15.39   1.38  14.50  24.19 
+     6  11.52  42.76  14.53  14.79  13.61  13.77   1.51  25.98 
+     7 130.94  19.78  79.29  49.41  57.25  50.27  54.87   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.39   8.81   8.27   8.04   9.00   8.83   8.93   8.67 
+     1   8.31   2.85   7.96   8.42   9.00   8.69   8.77   8.44 
+     2   8.33   8.02   2.69   7.93   8.84   8.76   9.11   8.65 
+     3   8.16   7.89   8.14   2.56   9.22   8.35   8.36   8.43 
+     4   8.67   8.11   8.10   8.08   2.73   8.70   8.88   8.88 
+     5   8.30   8.03   8.10   7.99   8.84   2.92   8.79   8.81 
+     6   8.44   8.21   8.21   8.04   8.86   8.72   2.86   8.90 
+     7   8.24   7.97   8.30   8.07  10.90   8.63   8.93   2.78 
+2026-11-03T14:47:45Z [19,367ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.0 GB/s.
+2026-11-03T14:47:45Z [19,367ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 130.9 us.
+2026-11-03T14:47:45Z [19,367ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T14:47:48Z [22,121ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [22,122ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [22,258ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [22,258ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [22,274ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [22,274ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [22,511ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [22,512ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [22,516ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [22,517ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [22,522ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [22,522ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:50Z [23,831ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T14:47:53Z [26,534ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T14:48:06Z [39,944ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T14:48:08Z [41,525ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T14:48:24Z [57,883ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T14:48:24Z [57,887ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T14:48:25Z [58,571ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T14:48:30Z [64,173ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,173ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,174ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:30Z [64,204ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-11-03T14:48:30Z [64,316ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,317ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T14:48:46Z [79,661ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55871ae6c770>)
+
+2026-11-03T14:48:46Z [79,662ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55871ae6c770>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T14:48:52Z [86,270ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.424026 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T14:48:59Z [93,433ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:48:59Z [93,434ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [93,475ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:00Z [93,475ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [93,486ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [93,496ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T14:49:00Z [93,802ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:00Z [93,825ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:03Z [96,622ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-03T14:49:03Z [96,623ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-03T14:49:03Z [96,623ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,491ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,492ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,681ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,681ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,872ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,873ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,873ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,887ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((172))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,887ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((172))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,910ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((182))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,910ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((182))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,910ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((182))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,975ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((216))' not available in the MDL representation.
+2026-11-03T14:49:09Z [102,975ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((216))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,174ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((248))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,174ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((248))' not available in the MDL representation.
+2026-11-03T14:49:10Z [103,767ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T14:49:10Z [104,295ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,296ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,296ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,300ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,300ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,304ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,304ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,307ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,307ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,307ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,308ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((172))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,308ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((172))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,309ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((182))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,309ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((182))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,309ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((182))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,311ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((216))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,311ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((216))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,313ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((248))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,313ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((248))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.785053 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FruitsOnionToPlateTask                        │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the onion on the plate                    │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FruitsOnionToPlateTaskSceneEnvCfg             │
+│  Attributes  : semantics, vague, simple                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FruitsOnionToPlateTask_0: 'Put the onion on the plate' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:06<16:30:56, 66.14s/it]
  0%|          | 2/900 [01:06<6:53:38, 27.64s/it] 
  0%|          | 3/900 [01:07<3:49:04, 15.32s/it]
  0%|          | 4/900 [01:08<2:22:29,  9.54s/it]
  1%|          | 5/900 [01:08<1:34:33,  6.34s/it]
  1%|          | 6/900 [01:09<1:05:40,  4.41s/it]
  1%|          | 7/900 [01:10<47:22,  3.18s/it]  
  1%|          | 8/900 [01:10<35:22,  2.38s/it]
  1%|          | 9/900 [01:25<1:32:27,  6.23s/it]
  1%|          | 10/900 [01:26<1:07:03,  4.52s/it]
  1%|          | 11/900 [01:26<49:35,  3.35s/it]  
  1%|▏         | 12/900 [01:27<37:40,  2.55s/it]
  1%|▏         | 13/900 [01:28<29:28,  1.99s/it]
  2%|▏         | 14/900 [01:28<23:32,  1.59s/it]
  2%|▏         | 15/900 [01:29<19:25,  1.32s/it]
  2%|▏         | 16/900 [01:30<16:42,  1.13s/it]
  2%|▏         | 17/900 [02:02<2:31:54, 10.32s/it]
  2%|▏         | 18/900 [02:02<1:49:08,  7.42s/it]
  2%|▏         | 19/900 [02:03<1:19:12,  5.39s/it]
  2%|▏         | 20/900 [02:04<58:20,  3.98s/it]  
  2%|▏         | 21/900 [02:04<43:45,  2.99s/it]
  2%|▏         | 22/900 [02:05<33:33,  2.29s/it]
  3%|▎         | 23/900 [02:06<26:21,  1.80s/it]
  3%|▎         | 24/900 [02:06<21:18,  1.46s/it]
  3%|▎         | 25/900 [02:27<1:47:23,  7.36s/it]
  3%|▎         | 26/900 [02:28<1:17:58,  5.35s/it]
  3%|▎         | 27/900 [02:29<57:25,  3.95s/it]  
  3%|▎         | 28/900 [02:29<43:02,  2.96s/it]
  3%|▎         | 29/900 [02:30<32:58,  2.27s/it]
  3%|▎         | 30/900 [02:31<26:04,  1.80s/it]
  3%|▎         | 31/900 [02:31<21:15,  1.47s/it]
  4%|▎         | 32/900 [02:32<17:59,  1.24s/it]
  4%|▎         | 33/900 [02:43<58:52,  4.07s/it]
  4%|▍         | 34/900 [02:44<44:08,  3.06s/it]
  4%|▍         | 35/900 [02:44<33:58,  2.36s/it]
  4%|▍         | 36/900 [02:45<26:55,  1.87s/it]
  4%|▍         | 37/900 [02:46<21:56,  1.53s/it]
  4%|▍         | 38/900 [02:46<18:21,  1.28s/it]
  4%|▍         | 39/900 [02:47<15:49,  1.10s/it]
  4%|▍         | 40/900 [02:48<14:06,  1.02it/s]
  5%|▍         | 41/900 [03:06<1:25:58,  6.01s/it]
  5%|▍         | 42/900 [03:06<1:03:06,  4.41s/it]
  5%|▍         | 43/900 [03:07<47:05,  3.30s/it]  
  5%|▍         | 44/900 [03:08<35:55,  2.52s/it]2026-11-03T14:52:21Z [294,974ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  5%|▌         | 45/900 [03:08<28:04,  1.97s/it]
  5%|▌         | 46/900 [03:09<22:38,  1.59s/it]
  5%|▌         | 47/900 [03:10<18:48,  1.32s/it]
  5%|▌         | 48/900 [03:10<16:04,  1.13s/it]
  5%|▌         | 49/900 [03:27<1:21:51,  5.77s/it]
  6%|▌         | 50/900 [03:28<1:00:13,  4.25s/it]
  6%|▌         | 51/900 [03:28<45:16,  3.20s/it]  
  6%|▌         | 52/900 [03:29<34:42,  2.46s/it]
  6%|▌         | 53/900 [03:30<27:19,  1.94s/it]
  6%|▌         | 54/900 [03:31<21:57,  1.56s/it]
  6%|▌         | 55/900 [03:31<18:22,  1.31s/it]
  6%|▌         | 56/900 [03:32<15:51,  1.13s/it]
  6%|▋         | 57/900 [03:56<1:51:03,  7.90s/it]
  6%|▋         | 58/900 [03:56<1:20:36,  5.74s/it]
  7%|▋         | 59/900 [03:57<59:25,  4.24s/it]  
  7%|▋         | 60/900 [03:58<44:28,  3.18s/it]
  7%|▋         | 61/900 [03:59<34:01,  2.43s/it]
  7%|▋         | 62/900 [03:59<26:39,  1.91s/it]
  7%|▋         | 63/900 [04:00<21:37,  1.55s/it]
  7%|▋         | 64/900 [04:01<18:03,  1.30s/it]
  7%|▋         | 65/900 [04:17<1:20:34,  5.79s/it]
  7%|▋         | 66/900 [04:18<59:13,  4.26s/it]  
  7%|▋         | 67/900 [04:18<44:28,  3.20s/it]
  8%|▊         | 68/900 [04:19<34:01,  2.45s/it]
  8%|▊         | 69/900 [04:20<26:39,  1.93s/it]
  8%|▊         | 70/900 [04:20<21:30,  1.56s/it]
  8%|▊         | 71/900 [04:21<17:54,  1.30s/it]
  8%|▊         | 72/900 [04:22<15:25,  1.12s/it]
  8%|▊         | 73/900 [04:57<2:36:06, 11.33s/it]
  8%|▊         | 74/900 [04:58<1:51:56,  8.13s/it]
  8%|▊         | 75/900 [04:58<1:21:05,  5.90s/it]
  8%|▊         | 76/900 [04:59<59:28,  4.33s/it]  
  9%|▊         | 77/900 [05:00<44:22,  3.23s/it]
  9%|▊         | 78/900 [05:00<33:54,  2.48s/it]
  9%|▉         | 79/900 [05:01<26:31,  1.94s/it]
  9%|▉         | 80/900 [05:02<21:24,  1.57s/it]
  9%|▉         | 81/900 [05:14<1:06:58,  4.91s/it]
  9%|▉         | 82/900 [05:15<49:38,  3.64s/it]  
  9%|▉         | 83/900 [05:16<37:32,  2.76s/it]
  9%|▉         | 84/900 [05:17<29:05,  2.14s/it]
  9%|▉         | 85/900 [05:17<23:10,  1.71s/it]
 10%|▉         | 86/900 [05:18<19:07,  1.41s/it]
 10%|▉         | 87/900 [05:19<16:13,  1.20s/it]
 10%|▉         | 88/900 [05:19<14:07,  1.04s/it]
 10%|▉         | 89/900 [06:07<3:24:27, 15.13s/it]
 10%|█         | 90/900 [06:08<2:25:42, 10.79s/it]
 10%|█         | 91/900 [06:09<1:44:39,  7.76s/it]
 10%|█         | 92/900 [06:09<1:15:55,  5.64s/it]
 10%|█         | 93/900 [06:10<55:50,  4.15s/it]  
 10%|█         | 94/900 [06:11<42:00,  3.13s/it]
 11%|█         | 95/900 [06:12<32:18,  2.41s/it]
 11%|█         | 96/900 [06:12<25:27,  1.90s/it]
 11%|█         | 97/900 [06:29<1:24:14,  6.29s/it]
 11%|█         | 98/900 [06:30<1:01:51,  4.63s/it]
 11%|█         | 99/900 [06:30<46:14,  3.46s/it]  
 11%|█         | 100/900 [06:31<35:15,  2.64s/it]
 11%|█         | 101/900 [06:32<27:30,  2.07s/it]
 11%|█▏        | 102/900 [06:32<22:01,  1.66s/it]
 11%|█▏        | 103/900 [06:33<18:09,  1.37s/it]
 12%|█▏        | 104/900 [06:34<15:29,  1.17s/it]
 12%|█▏        | 105/900 [06:51<1:19:57,  6.03s/it]
 12%|█▏        | 106/900 [06:52<58:45,  4.44s/it]  
 12%|█▏        | 107/900 [06:53<43:48,  3.31s/it]
 12%|█▏        | 108/900 [06:53<33:18,  2.52s/it]
 12%|█▏        | 109/900 [06:54<26:03,  1.98s/it]
 12%|█▏        | 110/900 [06:55<21:00,  1.59s/it]
 12%|█▏        | 111/900 [06:55<17:23,  1.32s/it]
 12%|█▏        | 112/900 [06:56<14:54,  1.14s/it]
 13%|█▎        | 113/900 [07:10<1:06:50,  5.10s/it]
 13%|█▎        | 114/900 [07:11<49:27,  3.78s/it]  
 13%|█▎        | 115/900 [07:12<37:29,  2.87s/it]
 13%|█▎        | 116/900 [07:13<28:59,  2.22s/it]
 13%|█▎        | 117/900 [07:13<22:55,  1.76s/it]
 13%|█▎        | 118/900 [07:14<18:43,  1.44s/it]
 13%|█▎        | 119/900 [07:15<15:50,  1.22s/it]
 13%|█▎        | 120/900 [07:15<13:50,  1.07s/it]
 13%|█▎        | 121/900 [08:00<3:03:23, 14.13s/it]
 14%|█▎        | 122/900 [08:01<2:10:45, 10.08s/it]
 14%|█▎        | 123/900 [08:01<1:34:02,  7.26s/it]
 14%|█▍        | 124/900 [08:02<1:08:19,  5.28s/it]
 14%|█▍        | 125/900 [08:03<50:20,  3.90s/it]  
 14%|█▍        | 126/900 [08:03<37:45,  2.93s/it]
 14%|█▍        | 127/900 [08:04<28:58,  2.25s/it]
 14%|█▍        | 128/900 [08:05<22:49,  1.77s/it]
 14%|█▍        | 129/900 [08:19<1:11:44,  5.58s/it]
 14%|█▍        | 130/900 [08:20<52:49,  4.12s/it]  
 15%|█▍        | 131/900 [08:20<39:38,  3.09s/it]
 15%|█▍        | 132/900 [08:21<30:15,  2.36s/it]
 15%|█▍        | 133/900 [08:22<23:42,  1.85s/it]
 15%|█▍        | 134/900 [08:22<19:06,  1.50s/it]
 15%|█▌        | 135/900 [08:23<15:52,  1.25s/it]
 15%|█▌        | 136/900 [08:24<13:37,  1.07s/it]
 15%|█▌        | 137/900 [09:18<3:35:34, 16.95s/it]
 15%|█▌        | 138/900 [09:18<2:33:14, 12.07s/it]
 15%|█▌        | 139/900 [09:19<1:49:39,  8.65s/it]
 16%|█▌        | 140/900 [09:20<1:19:13,  6.25s/it]
 16%|█▌        | 141/900 [09:21<58:09,  4.60s/it]  
 16%|█▌        | 142/900 [09:21<43:17,  3.43s/it]
 16%|█▌        | 143/900 [09:22<33:00,  2.62s/it]
 16%|█▌        | 144/900 [09:23<25:43,  2.04s/it]
 16%|█▌        | 145/900 [09:40<1:23:33,  6.64s/it]
 16%|█▌        | 146/900 [09:41<1:01:18,  4.88s/it]
 16%|█▋        | 147/900 [09:41<45:26,  3.62s/it]  
 16%|█▋        | 148/900 [09:42<34:22,  2.74s/it]
 17%|█▋        | 149/900 [09:43<26:41,  2.13s/it]
 17%|█▋        | 150/900 [09:44<21:13,  1.70s/it]
 17%|█▋        | 151/900 [09:44<17:28,  1.40s/it]
 17%|█▋        | 152/900 [09:45<14:43,  1.18s/it]
 17%|█▋        | 153/900 [10:02<1:14:45,  6.01s/it]
 17%|█▋        | 154/900 [10:03<54:45,  4.40s/it]  
 17%|█▋        | 155/900 [10:04<40:44,  3.28s/it]
 17%|█▋        | 156/900 [10:04<30:57,  2.50s/it]
 17%|█▋        | 157/900 [10:05<24:07,  1.95s/it]
 18%|█▊        | 158/900 [10:06<19:29,  1.58s/it]
 18%|█▊        | 159/900 [10:06<16:06,  1.30s/it]
 18%|█▊        | 160/900 [10:07<13:46,  1.12s/it]
 18%|█▊        | 161/900 [10:26<1:20:38,  6.55s/it]
 18%|█▊        | 162/900 [10:27<58:54,  4.79s/it]  
 18%|█▊        | 163/900 [10:28<43:48,  3.57s/it]
 18%|█▊        | 164/900 [10:28<33:09,  2.70s/it]
 18%|█▊        | 165/900 [10:29<25:40,  2.10s/it]
 18%|█▊        | 166/900 [10:30<20:28,  1.67s/it]
 19%|█▊        | 167/900 [10:30<16:49,  1.38s/it]
 19%|█▊        | 168/900 [10:31<14:20,  1.18s/it]
 19%|█▉        | 169/900 [10:46<1:06:08,  5.43s/it]
 19%|█▉        | 170/900 [10:47<48:49,  4.01s/it]  
 19%|█▉        | 171/900 [10:48<36:51,  3.03s/it]
 19%|█▉        | 172/900 [10:49<28:20,  2.34s/it]
 19%|█▉        | 173/900 [10:49<22:33,  1.86s/it]
 19%|█▉        | 174/900 [10:50<18:27,  1.53s/it]
 19%|█▉        | 175/900 [10:51<15:20,  1.27s/it]
 20%|█▉        | 176/900 [10:51<13:14,  1.10s/it]
 20%|█▉        | 177/900 [11:08<1:09:32,  5.77s/it]
 20%|█▉        | 178/900 [11:09<51:06,  4.25s/it]  
 20%|█▉        | 179/900 [11:09<38:20,  3.19s/it]
 20%|██        | 180/900 [11:10<29:30,  2.46s/it]
 20%|██        | 181/900 [11:11<23:13,  1.94s/it]
 20%|██        | 182/900 [11:12<18:46,  1.57s/it]
 20%|██        | 183/900 [11:12<15:41,  1.31s/it]
 20%|██        | 184/900 [11:13<13:28,  1.13s/it]
 21%|██        | 185/900 [12:03<3:09:16, 15.88s/it]
 21%|██        | 186/900 [12:04<2:14:52, 11.33s/it]
 21%|██        | 187/900 [12:05<1:36:44,  8.14s/it]
 21%|██        | 188/900 [12:05<1:10:02,  5.90s/it]
 21%|██        | 189/900 [12:06<51:27,  4.34s/it]  
 21%|██        | 190/900 [12:07<38:29,  3.25s/it]
 21%|██        | 191/900 [12:08<29:19,  2.48s/it]
 21%|██▏       | 192/900 [12:08<22:58,  1.95s/it]
 21%|██▏       | 193/900 [12:41<2:12:29, 11.24s/it]
 22%|██▏       | 194/900 [12:42<1:35:02,  8.08s/it]
 22%|██▏       | 195/900 [12:43<1:08:52,  5.86s/it]
 22%|██▏       | 196/900 [12:43<50:34,  4.31s/it]  
 22%|██▏       | 197/900 [12:44<37:45,  3.22s/it]
 22%|██▏       | 198/900 [12:45<28:47,  2.46s/it]
 22%|██▏       | 199/900 [12:45<22:33,  1.93s/it]
 22%|██▏       | 200/900 [12:46<18:12,  1.56s/it]
 22%|██▏       | 201/900 [13:30<2:46:17, 14.27s/it]
 22%|██▏       | 202/900 [13:31<1:58:37, 10.20s/it]
 23%|██▎       | 203/900 [13:31<1:25:21,  7.35s/it]
 23%|██▎       | 204/900 [13:32<1:02:05,  5.35s/it]
 23%|██▎       | 205/900 [13:33<45:48,  3.95s/it]  
 23%|██▎       | 206/900 [13:33<34:22,  2.97s/it]
 23%|██▎       | 207/900 [13:34<26:23,  2.29s/it]
 23%|██▎       | 208/900 [13:35<20:51,  1.81s/it]
 23%|██▎       | 209/900 [13:54<1:20:46,  7.01s/it]
 23%|██▎       | 210/900 [13:55<58:49,  5.12s/it]  
 23%|██▎       | 211/900 [13:55<43:27,  3.79s/it]
 24%|██▎       | 212/900 [13:56<32:40,  2.85s/it]
 24%|██▎       | 213/900 [13:57<25:07,  2.19s/it]
 24%|██▎       | 213/900 [13:57<45:02,  3.93s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json.
+FruitsOnionToPlateTask_0 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: True, episode_step: 214, duration: 14.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.363790683611065, 'joint_sparc_mean': -5.864110875538399, 'ee_isj': 1230.5219576874529, 'joint_isj': 26930.582235335205, 'ee_path_length': 2.377239795716019, 'joint_rmse_mean': 0.9382426361739382, 'ee_speed_max': 0.8645029067993164, 'ee_speed_mean': 0.1586609035730362}, events: {'OBJECT_BUMPED': 5, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 1, 'wrong_objects_grabbed': ['wooden_bowl']}, instruction_type: default, timing: {'policy_inference_s': 694.465, 'policy_inference_avg_ms': 3245.2, 'env_step_s': 141.434, 'env_step_avg_ms': 660.9, 'video_write_s': 1.917, 'video_write_avg_ms': 9.0, 'wall_total_s': 837.817, 'it_per_sec': 0.26}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: c4d1f7d058574ba2be2ef05189d47d68-0
+[RoboLab] Running FruitsOnionToPlateTask_1: 'Put the onion on the plate' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:07<16:49:55, 67.40s/it]
  0%|          | 2/900 [01:08<7:01:21, 28.15s/it] 
  0%|          | 3/900 [01:08<3:53:07, 15.59s/it]
  0%|          | 4/900 [01:09<2:24:49,  9.70s/it]
  1%|          | 5/900 [01:10<1:36:04,  6.44s/it]
  1%|          | 6/900 [01:10<1:06:51,  4.49s/it]
  1%|          | 7/900 [01:11<48:06,  3.23s/it]  
  1%|          | 8/900 [01:12<35:50,  2.41s/it]
  1%|          | 9/900 [01:34<2:08:34,  8.66s/it]
  1%|          | 10/900 [01:35<1:31:57,  6.20s/it]
  1%|          | 11/900 [01:35<1:06:53,  4.51s/it]
  1%|▏         | 12/900 [01:36<49:32,  3.35s/it]  
  1%|▏         | 13/900 [01:37<37:30,  2.54s/it]
  2%|▏         | 14/900 [01:37<29:07,  1.97s/it]
  2%|▏         | 15/900 [01:38<23:17,  1.58s/it]
  2%|▏         | 16/900 [01:39<19:18,  1.31s/it]
  2%|▏         | 17/900 [02:03<2:02:16,  8.31s/it]
  2%|▏         | 18/900 [02:04<1:28:38,  6.03s/it]
  2%|▏         | 19/900 [02:05<1:05:08,  4.44s/it]
  2%|▏         | 20/900 [02:05<48:27,  3.30s/it]  
  2%|▏         | 21/900 [02:06<36:53,  2.52s/it]
  2%|▏         | 22/900 [02:07<28:42,  1.96s/it]
  3%|▎         | 23/900 [02:07<22:59,  1.57s/it]
  3%|▎         | 24/900 [02:08<18:58,  1.30s/it]
  3%|▎         | 25/900 [02:49<3:12:23, 13.19s/it]
  3%|▎         | 26/900 [02:50<2:17:33,  9.44s/it]
  3%|▎         | 27/900 [02:50<1:39:13,  6.82s/it]
  3%|▎         | 28/900 [02:51<1:12:18,  4.98s/it]
  3%|▎         | 29/900 [02:52<53:27,  3.68s/it]  
  3%|▎         | 30/900 [02:52<40:26,  2.79s/it]
  3%|▎         | 31/900 [02:53<31:11,  2.15s/it]
  4%|▎         | 32/900 [02:54<24:50,  1.72s/it]
  4%|▎         | 33/900 [03:41<3:42:37, 15.41s/it]
  4%|▍         | 34/900 [03:42<2:38:38, 10.99s/it]
  4%|▍         | 35/900 [03:43<1:53:55,  7.90s/it]
  4%|▍         | 36/900 [03:43<1:22:33,  5.73s/it]
  4%|▍         | 37/900 [03:44<1:00:40,  4.22s/it]
  4%|▍         | 38/900 [03:45<45:35,  3.17s/it]  
  4%|▍         | 39/900 [03:45<34:49,  2.43s/it]
  4%|▍         | 40/900 [03:46<27:17,  1.90s/it]
  5%|▍         | 41/900 [04:00<1:20:26,  5.62s/it]
  5%|▍         | 42/900 [04:01<59:07,  4.13s/it]  
  5%|▍         | 43/900 [04:02<44:14,  3.10s/it]
  5%|▍         | 44/900 [04:02<33:47,  2.37s/it]
  5%|▌         | 45/900 [04:03<26:29,  1.86s/it]
  5%|▌         | 46/900 [04:04<21:24,  1.50s/it]
  5%|▌         | 47/900 [04:04<17:45,  1.25s/it]
  5%|▌         | 48/900 [04:05<15:13,  1.07s/it]
  5%|▌         | 49/900 [04:25<1:34:56,  6.69s/it]
  6%|▌         | 50/900 [04:25<1:09:21,  4.90s/it]
  6%|▌         | 51/900 [04:26<51:30,  3.64s/it]  
  6%|▌         | 52/900 [04:27<39:03,  2.76s/it]
  6%|▌         | 53/900 [04:28<30:10,  2.14s/it]
  6%|▌         | 54/900 [04:28<23:58,  1.70s/it]
  6%|▌         | 55/900 [04:29<19:32,  1.39s/it]
  6%|▌         | 56/900 [04:30<16:25,  1.17s/it]
  6%|▋         | 57/900 [04:58<2:09:50,  9.24s/it]
  6%|▋         | 58/900 [04:58<1:33:34,  6.67s/it]
  7%|▋         | 59/900 [04:59<1:08:13,  4.87s/it]
  7%|▋         | 60/900 [05:00<50:28,  3.61s/it]  
  7%|▋         | 61/900 [05:00<38:00,  2.72s/it]
  7%|▋         | 62/900 [05:01<29:19,  2.10s/it]
  7%|▋         | 63/900 [05:02<23:14,  1.67s/it]
  7%|▋         | 64/900 [05:02<19:01,  1.37s/it]
  7%|▋         | 65/900 [05:23<1:39:20,  7.14s/it]
  7%|▋         | 66/900 [05:24<1:12:13,  5.20s/it]
  7%|▋         | 67/900 [05:24<53:15,  3.84s/it]  
  8%|▊         | 68/900 [05:25<40:00,  2.89s/it]
  8%|▊         | 69/900 [05:26<30:42,  2.22s/it]
  8%|▊         | 70/900 [05:26<24:11,  1.75s/it]
  8%|▊         | 71/900 [05:27<19:41,  1.43s/it]
  8%|▊         | 72/900 [05:28<16:31,  1.20s/it]
  8%|▊         | 73/900 [05:42<1:12:55,  5.29s/it]
  8%|▊         | 74/900 [05:43<53:50,  3.91s/it]  
  8%|▊         | 75/900 [05:44<40:24,  2.94s/it]
  8%|▊         | 76/900 [05:44<31:00,  2.26s/it]
  9%|▊         | 77/900 [05:45<24:24,  1.78s/it]
  9%|▊         | 78/900 [05:46<19:50,  1.45s/it]
  9%|▉         | 79/900 [05:46<16:42,  1.22s/it]
  9%|▉         | 80/900 [05:47<14:29,  1.06s/it]
  9%|▉         | 81/900 [06:03<1:14:44,  5.48s/it]
  9%|▉         | 82/900 [06:04<55:02,  4.04s/it]  
  9%|▉         | 83/900 [06:04<41:16,  3.03s/it]
  9%|▉         | 84/900 [06:05<31:37,  2.33s/it]
  9%|▉         | 85/900 [06:06<24:54,  1.83s/it]
 10%|▉         | 86/900 [06:06<20:14,  1.49s/it]
 10%|▉         | 87/900 [06:07<16:59,  1.25s/it]
 10%|▉         | 88/900 [06:08<14:44,  1.09s/it]
 10%|▉         | 89/900 [06:24<1:16:21,  5.65s/it]
 10%|█         | 90/900 [06:25<56:11,  4.16s/it]  
 10%|█         | 91/900 [06:25<42:09,  3.13s/it]
 10%|█         | 92/900 [06:26<32:17,  2.40s/it]
 10%|█         | 93/900 [06:27<25:22,  1.89s/it]
 10%|█         | 94/900 [06:28<20:34,  1.53s/it]
 11%|█         | 95/900 [06:28<17:11,  1.28s/it]
 11%|█         | 96/900 [06:29<14:47,  1.10s/it]
 11%|█         | 97/900 [07:08<2:46:41, 12.46s/it]
 11%|█         | 98/900 [07:09<1:59:23,  8.93s/it]
 11%|█         | 99/900 [07:09<1:26:18,  6.46s/it]
 11%|█         | 100/900 [07:10<1:03:13,  4.74s/it]
 11%|█         | 101/900 [07:11<47:07,  3.54s/it]  
 11%|█▏        | 102/900 [07:11<35:52,  2.70s/it]
 11%|█▏        | 103/900 [07:12<27:56,  2.10s/it]
 12%|█▏        | 104/900 [07:13<22:24,  1.69s/it]
 12%|█▏        | 105/900 [07:27<1:09:46,  5.27s/it]
 12%|█▏        | 106/900 [07:27<51:31,  3.89s/it]  
 12%|█▏        | 107/900 [07:28<38:46,  2.93s/it]
 12%|█▏        | 108/900 [07:29<29:53,  2.26s/it]
 12%|█▏        | 109/900 [07:29<23:37,  1.79s/it]
 12%|█▏        | 110/900 [07:30<19:17,  1.47s/it]
 12%|█▏        | 111/900 [07:31<16:18,  1.24s/it]
 12%|█▏        | 112/900 [07:31<14:07,  1.08s/it]
 13%|█▎        | 113/900 [07:58<1:56:10,  8.86s/it]
 13%|█▎        | 114/900 [07:59<1:23:54,  6.41s/it]
 13%|█▎        | 115/900 [08:00<1:01:16,  4.68s/it]
 13%|█▎        | 116/900 [08:00<45:40,  3.49s/it]  
 13%|█▎        | 117/900 [08:01<34:35,  2.65s/it]
 13%|█▎        | 118/900 [08:02<26:46,  2.05s/it]
 13%|█▎        | 119/900 [08:02<21:15,  1.63s/it]
 13%|█▎        | 120/900 [08:03<17:25,  1.34s/it]
 13%|█▎        | 121/900 [08:40<2:33:58, 11.86s/it]
 14%|█▎        | 122/900 [08:40<1:50:29,  8.52s/it]
 14%|█▎        | 123/900 [08:41<1:20:00,  6.18s/it]
 14%|█▍        | 124/900 [08:42<58:41,  4.54s/it]  
 14%|█▍        | 125/900 [08:42<43:44,  3.39s/it]
 14%|█▍        | 126/900 [08:43<33:13,  2.58s/it]
 14%|█▍        | 127/900 [08:44<25:53,  2.01s/it]
 14%|█▍        | 128/900 [08:44<20:44,  1.61s/it]
 14%|█▍        | 129/900 [09:05<1:33:30,  7.28s/it]
 14%|█▍        | 130/900 [09:06<1:08:04,  5.30s/it]
 15%|█▍        | 131/900 [09:06<50:11,  3.92s/it]  
 15%|█▍        | 132/900 [09:07<37:46,  2.95s/it]
 15%|█▍        | 133/900 [09:08<29:04,  2.27s/it]
 15%|█▍        | 134/900 [09:08<22:58,  1.80s/it]
 15%|█▌        | 135/900 [09:09<18:40,  1.46s/it]
 15%|█▌        | 136/900 [09:10<15:40,  1.23s/it]
 15%|█▌        | 137/900 [09:24<1:04:09,  5.05s/it]
 15%|█▌        | 138/900 [09:24<47:32,  3.74s/it]  
 15%|█▌        | 139/900 [09:25<35:55,  2.83s/it]
 16%|█▌        | 140/900 [09:26<27:47,  2.19s/it]
 16%|█▌        | 141/900 [09:27<22:00,  1.74s/it]
 16%|█▌        | 142/900 [09:27<17:53,  1.42s/it]
 16%|█▌        | 143/900 [09:28<15:01,  1.19s/it]
 16%|█▌        | 144/900 [09:29<13:06,  1.04s/it]
 16%|█▌        | 144/900 [10:36<55:41,  4.42s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json.
+FruitsOnionToPlateTask_1 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: True, episode_step: 145, duration: 9.666666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.528671298840236, 'joint_sparc_mean': -4.986067360458962, 'ee_isj': 1261.6014849130252, 'joint_isj': 23549.93521515008, 'ee_path_length': 1.5513826088251808, 'joint_rmse_mean': 1.0012739386236835, 'ee_speed_max': 0.5218579173088074, 'ee_speed_mean': 0.15572446584701538}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 4}, instruction_type: default, timing: {'policy_inference_s': 540.377, 'policy_inference_avg_ms': 3726.7, 'env_step_s': 94.314, 'env_step_avg_ms': 650.4, 'video_write_s': 1.615, 'video_write_avg_ms': 11.1, 'wall_total_s': 636.306, 'it_per_sec': 0.23}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 2165695b91d54abda978b62f00c83ff5-1
+[RoboLab] Running FruitsOnionToPlateTask_2: 'Put the onion on the plate' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:56<14:04:03, 56.33s/it]
  0%|          | 2/900 [00:57<5:53:22, 23.61s/it] 
  0%|          | 3/900 [00:57<3:16:26, 13.14s/it]
  0%|          | 4/900 [00:58<2:02:43,  8.22s/it]
  1%|          | 5/900 [00:59<1:21:55,  5.49s/it]
  1%|          | 6/900 [00:59<57:23,  3.85s/it]  
  1%|          | 7/900 [01:00<42:00,  2.82s/it]
  1%|          | 8/900 [01:01<31:49,  2.14s/it]
  1%|          | 9/900 [01:19<1:45:29,  7.10s/it]
  1%|          | 10/900 [01:19<1:15:53,  5.12s/it]
  1%|          | 11/900 [01:20<55:37,  3.75s/it]  
  1%|▏         | 12/900 [01:21<41:43,  2.82s/it]
  1%|▏         | 13/900 [01:21<32:01,  2.17s/it]
  2%|▏         | 14/900 [01:22<25:17,  1.71s/it]
  2%|▏         | 15/900 [01:23<20:33,  1.39s/it]
  2%|▏         | 16/900 [01:23<17:14,  1.17s/it]
  2%|▏         | 17/900 [01:52<2:21:17,  9.60s/it]
  2%|▏         | 18/900 [01:53<1:41:39,  6.92s/it]
  2%|▏         | 19/900 [01:54<1:13:54,  5.03s/it]
  2%|▏         | 20/900 [01:54<54:31,  3.72s/it]  
  2%|▏         | 21/900 [01:55<41:04,  2.80s/it]
  2%|▏         | 22/900 [01:56<31:38,  2.16s/it]
  3%|▎         | 23/900 [01:56<25:04,  1.72s/it]
  3%|▎         | 24/900 [01:57<20:24,  1.40s/it]
  3%|▎         | 25/900 [02:14<1:30:00,  6.17s/it]
  3%|▎         | 26/900 [02:15<1:06:04,  4.54s/it]
  3%|▎         | 27/900 [02:16<49:14,  3.38s/it]  
  3%|▎         | 28/900 [02:17<37:25,  2.58s/it]
  3%|▎         | 29/900 [02:17<29:02,  2.00s/it]
  3%|▎         | 30/900 [02:18<23:14,  1.60s/it]
  3%|▎         | 31/900 [02:19<19:13,  1.33s/it]
  4%|▎         | 32/900 [02:19<16:28,  1.14s/it]
  4%|▎         | 33/900 [02:33<1:09:48,  4.83s/it]
  4%|▍         | 34/900 [02:33<51:45,  3.59s/it]  
  4%|▍         | 35/900 [02:34<39:05,  2.71s/it]
  4%|▍         | 36/900 [02:35<30:13,  2.10s/it]
  4%|▍         | 37/900 [02:35<23:59,  1.67s/it]
  4%|▍         | 38/900 [02:36<19:36,  1.36s/it]
  4%|▍         | 39/900 [02:37<16:32,  1.15s/it]
  4%|▍         | 40/900 [02:37<14:27,  1.01s/it]
  5%|▍         | 41/900 [03:00<1:46:27,  7.44s/it]
  5%|▍         | 42/900 [03:00<1:17:13,  5.40s/it]
  5%|▍         | 43/900 [03:01<56:51,  3.98s/it]  
  5%|▍         | 44/900 [03:02<42:39,  2.99s/it]
  5%|▌         | 45/900 [03:02<32:41,  2.29s/it]
  5%|▌         | 46/900 [03:03<25:47,  1.81s/it]
  5%|▌         | 47/900 [03:04<20:57,  1.47s/it]
  5%|▌         | 48/900 [03:05<17:36,  1.24s/it]
  5%|▌         | 49/900 [03:32<2:07:13,  8.97s/it]
  6%|▌         | 50/900 [03:32<1:31:44,  6.48s/it]
  6%|▌         | 51/900 [03:33<1:07:04,  4.74s/it]
  6%|▌         | 52/900 [03:34<49:37,  3.51s/it]  
  6%|▌         | 53/900 [03:34<37:35,  2.66s/it]
  6%|▌         | 54/900 [03:35<29:14,  2.07s/it]
  6%|▌         | 55/900 [03:36<23:22,  1.66s/it]
  6%|▌         | 56/900 [03:36<19:09,  1.36s/it]
  6%|▋         | 57/900 [03:53<1:21:55,  5.83s/it]
  6%|▋         | 58/900 [03:53<1:00:00,  4.28s/it]
  7%|▋         | 59/900 [03:54<44:41,  3.19s/it]  
  7%|▋         | 60/900 [03:54<34:01,  2.43s/it]
  7%|▋         | 61/900 [03:55<26:37,  1.90s/it]
  7%|▋         | 62/900 [03:56<21:19,  1.53s/it]
  7%|▋         | 63/900 [03:56<17:35,  1.26s/it]
  7%|▋         | 64/900 [03:57<14:56,  1.07s/it]
  7%|▋         | 65/900 [04:12<1:13:17,  5.27s/it]
  7%|▋         | 66/900 [04:13<53:50,  3.87s/it]  
  7%|▋         | 67/900 [04:13<40:14,  2.90s/it]
  8%|▊         | 68/900 [04:14<30:49,  2.22s/it]
  8%|▊         | 69/900 [04:15<24:15,  1.75s/it]
  8%|▊         | 70/900 [04:15<19:53,  1.44s/it]
  8%|▊         | 71/900 [04:16<16:39,  1.21s/it]
  8%|▊         | 72/900 [04:17<14:27,  1.05s/it]
  8%|▊         | 73/900 [04:33<1:17:04,  5.59s/it]
  8%|▊         | 74/900 [04:34<56:47,  4.13s/it]  
  8%|▊         | 75/900 [04:34<42:33,  3.10s/it]
  8%|▊         | 76/900 [04:35<32:41,  2.38s/it]
  9%|▊         | 77/900 [04:36<25:43,  1.88s/it]
  9%|▊         | 78/900 [04:36<20:53,  1.52s/it]
  9%|▉         | 79/900 [04:37<17:25,  1.27s/it]
  9%|▉         | 80/900 [04:38<15:04,  1.10s/it]
  9%|▉         | 81/900 [04:52<1:10:20,  5.15s/it]
  9%|▉         | 82/900 [04:53<52:07,  3.82s/it]  
  9%|▉         | 83/900 [04:54<39:16,  2.88s/it]
  9%|▉         | 84/900 [04:55<30:23,  2.23s/it]
  9%|▉         | 85/900 [04:55<24:09,  1.78s/it]
 10%|▉         | 86/900 [04:56<19:42,  1.45s/it]
 10%|▉         | 87/900 [04:57<16:39,  1.23s/it]
 10%|▉         | 88/900 [04:57<14:29,  1.07s/it]
 10%|▉         | 89/900 [05:10<1:00:33,  4.48s/it]
 10%|█         | 90/900 [05:11<45:14,  3.35s/it]  
 10%|█         | 91/900 [05:11<34:26,  2.55s/it]
 10%|█         | 92/900 [05:12<26:50,  1.99s/it]
 10%|█         | 93/900 [05:13<21:38,  1.61s/it]
 10%|█         | 94/900 [05:13<17:54,  1.33s/it]
 11%|█         | 95/900 [05:14<15:18,  1.14s/it]
 11%|█         | 96/900 [05:15<13:32,  1.01s/it]
 11%|█         | 97/900 [05:44<2:08:55,  9.63s/it]
 11%|█         | 98/900 [05:45<1:33:02,  6.96s/it]
 11%|█         | 99/900 [05:46<1:07:45,  5.08s/it]
 11%|█         | 100/900 [05:47<50:23,  3.78s/it] 
 11%|█         | 101/900 [05:47<38:12,  2.87s/it]
 11%|█▏        | 102/900 [05:48<29:38,  2.23s/it]
 11%|█▏        | 103/900 [05:49<23:34,  1.78s/it]
 12%|█▏        | 104/900 [05:50<19:21,  1.46s/it]
 12%|█▏        | 105/900 [06:21<2:16:52, 10.33s/it]
 12%|█▏        | 106/900 [06:21<1:38:25,  7.44s/it]
 12%|█▏        | 107/900 [06:22<1:11:32,  5.41s/it]
 12%|█▏        | 108/900 [06:23<52:44,  4.00s/it]  
 12%|█▏        | 109/900 [06:23<39:37,  3.01s/it]
 12%|█▏        | 110/900 [06:24<30:29,  2.32s/it]
 12%|█▏        | 111/900 [06:25<24:07,  1.83s/it]
 12%|█▏        | 112/900 [06:25<19:36,  1.49s/it]
 13%|█▎        | 113/900 [06:51<1:53:47,  8.68s/it]
 13%|█▎        | 114/900 [06:52<1:22:17,  6.28s/it]
 13%|█▎        | 115/900 [06:52<1:00:17,  4.61s/it]
 13%|█▎        | 116/900 [06:53<44:51,  3.43s/it]  
 13%|█▎        | 117/900 [06:54<34:03,  2.61s/it]
 13%|█▎        | 118/900 [06:54<26:28,  2.03s/it]
 13%|█▎        | 119/900 [06:55<21:15,  1.63s/it]
 13%|█▎        | 120/900 [06:56<17:42,  1.36s/it]
 13%|█▎        | 121/900 [07:11<1:12:18,  5.57s/it]
 14%|█▎        | 122/900 [07:12<53:12,  4.10s/it]  
 14%|█▎        | 123/900 [07:13<39:51,  3.08s/it]
 14%|█▎        | 123/900 [07:13<45:40,  3.53s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json.
+FruitsOnionToPlateTask_2 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: True, episode_step: 124, duration: 8.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.8827355908652383, 'joint_sparc_mean': -5.589300749334133, 'ee_isj': 625.656538066928, 'joint_isj': 25253.05577201394, 'ee_path_length': 1.3058996293992022, 'joint_rmse_mean': 0.9842169461081687, 'ee_speed_max': 0.4733664095401764, 'ee_speed_mean': 0.151156485080719}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 1, 'WRONG_OBJECT_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['pomegranate01']}, instruction_type: default, timing: {'policy_inference_s': 351.853, 'policy_inference_avg_ms': 2837.5, 'env_step_s': 80.429, 'env_step_avg_ms': 648.6, 'video_write_s': 1.474, 'video_write_avg_ms': 11.9, 'wall_total_s': 433.756, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: bfe1fcc2a33e464c8c2df4b6fcf2e6e4-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T15:22:29Z [2,102,616ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.197899 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T15:22:52Z [2,125,811ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:22:52Z [2,125,812ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:22:52Z [2,125,822ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:22:52Z [2,125,822ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:22:52Z [2,125,831ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:22:52Z [2,125,839ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T15:22:52Z [2,125,861ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[INFO]: Time taken for simulation start : 27.852125 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BlockStackingSpecifiedOrderTask               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Stack the blocks in the order from bottom to top: red, blue, green, yellow │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BlockStackingSpecifiedOrderTaskSceneEnvCfg    │
+│  Attributes  : stacking, color, complex                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BlockStackingSpecifiedOrderTask_0: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 0, 1 envs)
+
  0%|          | 0/1350 [00:00<?, ?it/s]
  0%|          | 1/1350 [00:58<22:02:27, 58.82s/it]
  0%|          | 2/1350 [00:59<9:07:29, 24.37s/it] 
  0%|          | 3/1350 [00:59<4:59:45, 13.35s/it]
  0%|          | 4/1350 [00:59<3:03:26,  8.18s/it]
  0%|          | 5/1350 [00:59<1:59:10,  5.32s/it]
  0%|          | 6/1350 [01:00<1:20:27,  3.59s/it]
  1%|          | 7/1350 [01:00<55:53,  2.50s/it]  
  1%|          | 8/1350 [01:00<39:46,  1.78s/it]
  1%|          | 9/1350 [01:12<1:50:33,  4.95s/it]
  1%|          | 10/1350 [01:12<1:18:04,  3.50s/it]
  1%|          | 11/1350 [01:12<55:47,  2.50s/it]  
  1%|          | 12/1350 [01:13<40:26,  1.81s/it]
  1%|          | 13/1350 [01:13<29:52,  1.34s/it]
  1%|          | 14/1350 [01:13<22:31,  1.01s/it]
  1%|          | 15/1350 [01:13<17:27,  1.27it/s]
  1%|          | 16/1350 [01:14<13:54,  1.60it/s]
  1%|▏         | 17/1350 [01:47<3:49:43, 10.34s/it]
  1%|▏         | 18/1350 [01:47<2:42:13,  7.31s/it]
  1%|▏         | 19/1350 [01:47<1:55:02,  5.19s/it]
  1%|▏         | 20/1350 [01:47<1:22:06,  3.70s/it]
  2%|▏         | 21/1350 [01:48<59:03,  2.67s/it]  
  2%|▏         | 22/1350 [01:48<42:56,  1.94s/it]
  2%|▏         | 23/1350 [01:48<31:39,  1.43s/it]
  2%|▏         | 24/1350 [01:48<23:45,  1.08s/it]
  2%|▏         | 25/1350 [02:11<2:49:00,  7.65s/it]
  2%|▏         | 26/1350 [02:12<1:59:50,  5.43s/it]
  2%|▏         | 27/1350 [02:12<1:25:26,  3.87s/it]
  2%|▏         | 28/1350 [02:12<1:01:22,  2.79s/it]
  2%|▏         | 29/1350 [02:12<44:32,  2.02s/it]  
  2%|▏         | 30/1350 [02:13<32:45,  1.49s/it]
  2%|▏         | 31/1350 [02:13<24:30,  1.12s/it]
  2%|▏         | 32/1350 [02:13<18:44,  1.17it/s]
  2%|▏         | 33/1350 [02:33<2:24:47,  6.60s/it]
  3%|▎         | 34/1350 [02:33<1:42:52,  4.69s/it]
  3%|▎         | 35/1350 [02:34<1:13:33,  3.36s/it]
  3%|▎         | 36/1350 [02:34<53:06,  2.42s/it]  
  3%|▎         | 37/1350 [02:34<38:44,  1.77s/it]
  3%|▎         | 38/1350 [02:34<28:44,  1.31s/it]
  3%|▎         | 39/1350 [02:35<21:40,  1.01it/s]
  3%|▎         | 40/1350 [02:35<16:43,  1.30it/s]
  3%|▎         | 41/1350 [02:46<1:23:36,  3.83s/it]
  3%|▎         | 42/1350 [02:46<1:00:15,  2.76s/it]
  3%|▎         | 43/1350 [02:46<43:53,  2.01s/it]  
  3%|▎         | 44/1350 [02:47<32:25,  1.49s/it]
  3%|▎         | 45/1350 [02:47<24:27,  1.12s/it]
  3%|▎         | 46/1350 [02:47<18:47,  1.16it/s]
  3%|▎         | 47/1350 [02:47<14:55,  1.46it/s]
  4%|▎         | 48/1350 [02:48<12:13,  1.78it/s]
  4%|▎         | 49/1350 [03:01<1:36:14,  4.44s/it]
  4%|▎         | 50/1350 [03:01<1:08:58,  3.18s/it]
  4%|▍         | 51/1350 [03:02<49:56,  2.31s/it]  
  4%|▍         | 52/1350 [03:02<36:36,  1.69s/it]
  4%|▍         | 53/1350 [03:02<27:13,  1.26s/it]
  4%|▍         | 54/1350 [03:02<20:38,  1.05it/s]
  4%|▍         | 55/1350 [03:03<16:01,  1.35it/s]
  4%|▍         | 56/1350 [03:03<12:46,  1.69it/s]
  4%|▍         | 57/1350 [03:47<4:51:10, 13.51s/it]
  4%|▍         | 58/1350 [03:47<3:25:15,  9.53s/it]
  4%|▍         | 59/1350 [03:47<2:25:07,  6.74s/it]
  4%|▍         | 60/1350 [03:47<1:43:05,  4.79s/it]
  5%|▍         | 61/1350 [03:48<1:13:42,  3.43s/it]
  5%|▍         | 62/1350 [03:48<53:07,  2.48s/it]  
  5%|▍         | 63/1350 [03:48<38:45,  1.81s/it]
  5%|▍         | 64/1350 [03:48<28:41,  1.34s/it]
  5%|▍         | 65/1350 [04:00<1:32:31,  4.32s/it]
  5%|▍         | 66/1350 [04:00<1:06:19,  3.10s/it]
  5%|▍         | 67/1350 [04:00<48:01,  2.25s/it]  
  5%|▌         | 68/1350 [04:00<35:20,  1.65s/it]
  5%|▌         | 69/1350 [04:01<26:27,  1.24s/it]
  5%|▌         | 70/1350 [04:01<20:15,  1.05it/s]
  5%|▌         | 71/1350 [04:01<15:56,  1.34it/s]
  5%|▌         | 72/1350 [04:01<12:52,  1.65it/s]
  5%|▌         | 73/1350 [04:20<2:09:50,  6.10s/it]
  5%|▌         | 74/1350 [04:21<1:32:30,  4.35s/it]
  6%|▌         | 75/1350 [04:21<1:06:17,  3.12s/it]
  6%|▌         | 76/1350 [04:21<47:55,  2.26s/it]  
  6%|▌         | 77/1350 [04:21<35:06,  1.65s/it]
  6%|▌         | 78/1350 [04:22<26:07,  1.23s/it]
  6%|▌         | 79/1350 [04:22<19:50,  1.07it/s]
  6%|▌         | 80/1350 [04:22<15:24,  1.37it/s]
  6%|▌         | 81/1350 [04:34<1:24:48,  4.01s/it]
  6%|▌         | 82/1350 [04:34<1:01:03,  2.89s/it]
  6%|▌         | 83/1350 [04:34<44:26,  2.10s/it]  
  6%|▌         | 84/1350 [04:35<32:48,  1.55s/it]
  6%|▋         | 85/1350 [04:35<24:38,  1.17s/it]
  6%|▋         | 86/1350 [04:35<18:57,  1.11it/s]
  6%|▋         | 87/1350 [04:35<14:55,  1.41it/s]
  7%|▋         | 88/1350 [04:36<12:07,  1.74it/s]
  7%|▋         | 89/1350 [04:47<1:20:06,  3.81s/it]
  7%|▋         | 90/1350 [04:47<57:45,  2.75s/it]  
  7%|▋         | 91/1350 [04:48<42:06,  2.01s/it]
  7%|▋         | 92/1350 [04:48<31:10,  1.49s/it]
  7%|▋         | 93/1350 [04:48<23:32,  1.12s/it]
  7%|▋         | 94/1350 [04:48<18:10,  1.15it/s]
  7%|▋         | 95/1350 [04:49<14:26,  1.45it/s]
  7%|▋         | 96/1350 [04:49<11:50,  1.76it/s]
  7%|▋         | 97/1350 [05:21<3:26:14,  9.88s/it]
  7%|▋         | 98/1350 [05:21<2:26:00,  7.00s/it]
  7%|▋         | 99/1350 [05:21<1:43:51,  4.98s/it]
  7%|▋         | 100/1350 [05:21<1:14:25,  3.57s/it]
  7%|▋         | 101/1350 [05:22<53:48,  2.58s/it]  
  8%|▊         | 102/1350 [05:22<39:22,  1.89s/it]
  8%|▊         | 103/1350 [05:22<29:16,  1.41s/it]
  8%|▊         | 104/1350 [05:22<22:13,  1.07s/it]
  8%|▊         | 105/1350 [05:40<2:06:41,  6.11s/it]
  8%|▊         | 106/1350 [05:41<1:30:18,  4.36s/it]
  8%|▊         | 107/1350 [05:41<1:04:50,  3.13s/it]
  8%|▊         | 108/1350 [05:41<47:03,  2.27s/it]  
  8%|▊         | 109/1350 [05:41<34:35,  1.67s/it]
  8%|▊         | 110/1350 [05:42<25:53,  1.25s/it]
  8%|▊         | 111/1350 [05:42<19:47,  1.04it/s]
  8%|▊         | 112/1350 [05:42<15:31,  1.33it/s]
  8%|▊         | 113/1350 [06:27<4:48:47, 14.01s/it]
  8%|▊         | 114/1350 [06:27<3:23:41,  9.89s/it]
  9%|▊         | 115/1350 [06:28<2:24:11,  7.01s/it]
  9%|▊         | 116/1350 [06:28<1:42:31,  4.98s/it]
  9%|▊         | 117/1350 [06:28<1:13:22,  3.57s/it]
  9%|▊         | 118/1350 [06:29<53:00,  2.58s/it]  
  9%|▉         | 119/1350 [06:29<38:44,  1.89s/it]
  9%|▉         | 120/1350 [06:29<28:47,  1.40s/it]
  9%|▉         | 121/1350 [06:50<2:28:44,  7.26s/it]
  9%|▉         | 122/1350 [06:50<1:45:43,  5.17s/it]
  9%|▉         | 123/1350 [06:51<1:15:38,  3.70s/it]
  9%|▉         | 124/1350 [06:51<54:35,  2.67s/it]  
  9%|▉         | 125/1350 [06:51<39:52,  1.95s/it]
  9%|▉         | 126/1350 [06:51<29:34,  1.45s/it]
  9%|▉         | 127/1350 [06:52<22:19,  1.10s/it]
  9%|▉         | 128/1350 [06:52<17:19,  1.18it/s]
 10%|▉         | 129/1350 [07:07<1:41:28,  4.99s/it]
 10%|▉         | 130/1350 [07:07<1:12:36,  3.57s/it]
 10%|▉         | 131/1350 [07:07<52:25,  2.58s/it]  
 10%|▉         | 132/1350 [07:07<38:20,  1.89s/it]
 10%|▉         | 133/1350 [07:08<28:28,  1.40s/it]
 10%|▉         | 134/1350 [07:08<21:36,  1.07s/it]
 10%|█         | 135/1350 [07:08<16:49,  1.20it/s]
 10%|█         | 136/1350 [07:08<13:28,  1.50it/s]
 10%|█         | 137/1350 [07:30<2:19:35,  6.90s/it]
 10%|█         | 138/1350 [07:30<1:39:14,  4.91s/it]
 10%|█         | 139/1350 [07:30<1:10:56,  3.51s/it]
 10%|█         | 140/1350 [07:31<51:08,  2.54s/it]  
 10%|█         | 141/1350 [07:31<37:17,  1.85s/it]
 11%|█         | 142/1350 [07:31<27:37,  1.37s/it]
 11%|█         | 143/1350 [07:31<20:50,  1.04s/it]
 11%|█         | 144/1350 [07:32<16:06,  1.25it/s]
 11%|█         | 145/1350 [07:49<1:54:15,  5.69s/it]
 11%|█         | 146/1350 [07:49<1:21:25,  4.06s/it]
 11%|█         | 147/1350 [07:49<58:25,  2.91s/it]  
 11%|█         | 148/1350 [07:50<42:24,  2.12s/it]
 11%|█         | 149/1350 [07:50<31:11,  1.56s/it]
 11%|█         | 150/1350 [07:50<23:19,  1.17s/it]
 11%|█         | 151/1350 [07:50<17:51,  1.12it/s]
 11%|█▏        | 152/1350 [07:51<14:03,  1.42it/s]
 11%|█▏        | 153/1350 [08:09<2:02:44,  6.15s/it]
 11%|█▏        | 154/1350 [08:10<1:27:20,  4.38s/it]
 11%|█▏        | 155/1350 [08:10<1:02:35,  3.14s/it]
 12%|█▏        | 156/1350 [08:10<45:33,  2.29s/it]  
 12%|█▏        | 157/1350 [08:11<33:20,  1.68s/it]
 12%|█▏        | 158/1350 [08:11<24:50,  1.25s/it]
 12%|█▏        | 159/1350 [08:11<18:53,  1.05it/s]
 12%|█▏        | 160/1350 [08:11<14:43,  1.35it/s]
 12%|█▏        | 161/1350 [08:37<2:44:29,  8.30s/it]
 12%|█▏        | 162/1350 [08:37<1:56:33,  5.89s/it]
 12%|█▏        | 163/1350 [08:38<1:23:01,  4.20s/it]
 12%|█▏        | 164/1350 [08:38<59:34,  3.01s/it]  
 12%|█▏        | 165/1350 [08:38<43:09,  2.19s/it]
 12%|█▏        | 166/1350 [08:38<31:38,  1.60s/it]
 12%|█▏        | 167/1350 [08:39<23:40,  1.20s/it]
 12%|█▏        | 168/1350 [08:39<18:03,  1.09it/s]
 13%|█▎        | 169/1350 [09:13<3:35:04, 10.93s/it]
 13%|█▎        | 170/1350 [09:14<2:31:54,  7.72s/it]
 13%|█▎        | 171/1350 [09:14<1:47:43,  5.48s/it]
 13%|█▎        | 172/1350 [09:14<1:16:49,  3.91s/it]
 13%|█▎        | 173/1350 [09:14<55:12,  2.81s/it]  
 13%|█▎        | 174/1350 [09:15<40:05,  2.05s/it]
 13%|█▎        | 175/1350 [09:15<29:28,  1.51s/it]
 13%|█▎        | 176/1350 [09:15<22:09,  1.13s/it]
 13%|█▎        | 177/1350 [09:42<2:51:08,  8.75s/it]
 13%|█▎        | 178/1350 [09:42<2:01:14,  6.21s/it]
 13%|█▎        | 179/1350 [09:42<1:26:17,  4.42s/it]
 13%|█▎        | 180/1350 [09:42<1:01:51,  3.17s/it]
 13%|█▎        | 181/1350 [09:43<44:42,  2.30s/it]  
 13%|█▎        | 182/1350 [09:43<32:46,  1.68s/it]
 14%|█▎        | 183/1350 [09:43<24:26,  1.26s/it]
 14%|█▎        | 184/1350 [09:43<18:34,  1.05it/s]
 14%|█▎        | 185/1350 [10:04<2:16:02,  7.01s/it]
 14%|█▍        | 186/1350 [10:05<1:36:48,  4.99s/it]
 14%|█▍        | 187/1350 [10:05<1:09:19,  3.58s/it]
 14%|█▍        | 188/1350 [10:05<50:10,  2.59s/it]  
 14%|█▍        | 189/1350 [10:06<36:40,  1.90s/it]
 14%|█▍        | 190/1350 [10:06<27:12,  1.41s/it]
 14%|█▍        | 191/1350 [10:06<20:34,  1.06s/it]
 14%|█▍        | 192/1350 [10:06<15:58,  1.21it/s]
 14%|█▍        | 193/1350 [10:23<1:46:17,  5.51s/it]
 14%|█▍        | 194/1350 [10:23<1:15:56,  3.94s/it]
 14%|█▍        | 195/1350 [10:23<54:42,  2.84s/it]  
 15%|█▍        | 196/1350 [10:24<39:51,  2.07s/it]
 15%|█▍        | 197/1350 [10:24<29:42,  1.55s/it]
 15%|█▍        | 198/1350 [10:24<22:20,  1.16s/it]
 15%|█▍        | 199/1350 [10:25<17:18,  1.11it/s]
 15%|█▍        | 200/1350 [10:25<13:42,  1.40it/s]
 15%|█▍        | 201/1350 [10:56<3:09:08,  9.88s/it]
 15%|█▍        | 202/1350 [10:56<2:13:52,  7.00s/it]
 15%|█▌        | 203/1350 [10:57<1:35:10,  4.98s/it]
 15%|█▌        | 204/1350 [10:57<1:08:08,  3.57s/it]
 15%|█▌        | 205/1350 [10:57<49:14,  2.58s/it]  
 15%|█▌        | 206/1350 [10:57<36:00,  1.89s/it]
 15%|█▌        | 207/1350 [10:58<26:45,  1.40s/it]
 15%|█▌        | 208/1350 [10:58<20:23,  1.07s/it]
 15%|█▌        | 209/1350 [11:14<1:44:40,  5.50s/it]
 16%|█▌        | 210/1350 [11:14<1:14:52,  3.94s/it]
 16%|█▌        | 211/1350 [11:14<53:58,  2.84s/it]  
 16%|█▌        | 212/1350 [11:15<39:22,  2.08s/it]
 16%|█▌        | 213/1350 [11:15<29:10,  1.54s/it]
 16%|█▌        | 214/1350 [11:15<21:57,  1.16s/it]
 16%|█▌        | 215/1350 [11:16<16:55,  1.12it/s]
 16%|█▌        | 216/1350 [11:16<13:22,  1.41it/s]
 16%|█▌        | 217/1350 [11:34<1:53:02,  5.99s/it]
 16%|█▌        | 218/1350 [11:34<1:20:36,  4.27s/it]
 16%|█▌        | 219/1350 [11:35<57:56,  3.07s/it]  
 16%|█▋        | 220/1350 [11:35<42:04,  2.23s/it]
 16%|█▋        | 221/1350 [11:35<30:59,  1.65s/it]
 16%|█▋        | 222/1350 [11:36<23:12,  1.23s/it]
 17%|█▋        | 223/1350 [11:36<17:47,  1.06it/s]
 17%|█▋        | 224/1350 [11:36<14:00,  1.34it/s]
 17%|█▋        | 225/1350 [11:59<2:19:04,  7.42s/it]
 17%|█▋        | 226/1350 [11:59<1:38:49,  5.28s/it]
 17%|█▋        | 227/1350 [12:00<1:10:42,  3.78s/it]
 17%|█▋        | 228/1350 [12:00<51:01,  2.73s/it]  
 17%|█▋        | 229/1350 [12:00<37:15,  1.99s/it]
 17%|█▋        | 230/1350 [12:01<27:38,  1.48s/it]
 17%|█▋        | 231/1350 [12:01<20:54,  1.12s/it]
 17%|█▋        | 232/1350 [12:01<16:11,  1.15it/s]
 17%|█▋        | 233/1350 [12:21<2:03:34,  6.64s/it]
 17%|█▋        | 234/1350 [12:21<1:27:50,  4.72s/it]
 17%|█▋        | 235/1350 [12:22<1:02:51,  3.38s/it]
 17%|█▋        | 236/1350 [12:22<45:23,  2.44s/it]  
 18%|█▊        | 237/1350 [12:22<33:09,  1.79s/it]
 18%|█▊        | 238/1350 [12:22<24:35,  1.33s/it]
 18%|█▊        | 239/1350 [12:23<18:34,  1.00s/it]
 18%|█▊        | 240/1350 [12:23<14:24,  1.28it/s]
 18%|█▊        | 241/1350 [12:40<1:45:58,  5.73s/it]
 18%|█▊        | 242/1350 [12:40<1:15:32,  4.09s/it]
 18%|█▊        | 243/1350 [12:41<54:13,  2.94s/it]  
 18%|█▊        | 244/1350 [12:41<39:21,  2.13s/it]
 18%|█▊        | 245/1350 [12:41<28:54,  1.57s/it]
 18%|█▊        | 246/1350 [12:42<21:36,  1.17s/it]
 18%|█▊        | 247/1350 [12:42<16:32,  1.11it/s]
 18%|█▊        | 248/1350 [12:42<13:01,  1.41it/s]
 18%|█▊        | 249/1350 [13:04<2:07:55,  6.97s/it]
 19%|█▊        | 250/1350 [13:04<1:30:52,  4.96s/it]
 19%|█▊        | 251/1350 [13:04<1:04:59,  3.55s/it]
 19%|█▊        | 252/1350 [13:04<46:49,  2.56s/it]  
 19%|█▊        | 253/1350 [13:05<34:09,  1.87s/it]
 19%|█▉        | 254/1350 [13:05<25:19,  1.39s/it]
 19%|█▉        | 255/1350 [13:05<19:06,  1.05s/it]
 19%|█▉        | 256/1350 [13:05<14:46,  1.23it/s]
 19%|█▉        | 257/1350 [13:24<1:49:14,  6.00s/it]
 19%|█▉        | 258/1350 [13:24<1:17:45,  4.27s/it]
 19%|█▉        | 259/1350 [13:24<55:48,  3.07s/it]  
 19%|█▉        | 260/1350 [13:24<40:28,  2.23s/it]
 19%|█▉        | 261/1350 [13:25<29:43,  1.64s/it]
 19%|█▉        | 262/1350 [13:25<22:11,  1.22s/it]
 19%|█▉        | 263/1350 [13:25<16:53,  1.07it/s]
 20%|█▉        | 264/1350 [13:25<13:10,  1.37it/s]
 20%|█▉        | 265/1350 [13:55<2:51:13,  9.47s/it]
 20%|█▉        | 266/1350 [13:55<2:01:05,  6.70s/it]
 20%|█▉        | 267/1350 [13:56<1:26:03,  4.77s/it]
 20%|█▉        | 268/1350 [13:56<1:01:31,  3.41s/it]
 20%|█▉        | 269/1350 [13:56<44:22,  2.46s/it]  
 20%|██        | 270/1350 [13:56<32:23,  1.80s/it]
 20%|██        | 271/1350 [13:57<24:00,  1.33s/it]
 20%|██        | 272/1350 [13:57<18:08,  1.01s/it]
 20%|██        | 273/1350 [14:24<2:38:43,  8.84s/it]
 20%|██        | 274/1350 [14:24<1:52:27,  6.27s/it]
 20%|██        | 275/1350 [14:25<1:20:05,  4.47s/it]
 20%|██        | 276/1350 [14:25<57:20,  3.20s/it]  
 21%|██        | 277/1350 [14:25<41:25,  2.32s/it]
 21%|██        | 278/1350 [14:25<30:18,  1.70s/it]
 21%|██        | 279/1350 [14:26<22:32,  1.26s/it]
 21%|██        | 280/1350 [14:26<17:07,  1.04it/s]
 21%|██        | 281/1350 [14:48<2:12:22,  7.43s/it]
 21%|██        | 282/1350 [14:49<1:34:04,  5.29s/it]
 21%|██        | 283/1350 [14:49<1:07:15,  3.78s/it]
 21%|██        | 284/1350 [14:49<48:28,  2.73s/it]  
 21%|██        | 285/1350 [14:49<35:21,  1.99s/it]
 21%|██        | 286/1350 [14:50<26:10,  1.48s/it]
 21%|██▏       | 287/1350 [14:50<19:45,  1.12s/it]
 21%|██▏       | 288/1350 [14:50<15:15,  1.16it/s]
 21%|██▏       | 289/1350 [15:08<1:46:40,  6.03s/it]
 21%|██▏       | 290/1350 [15:09<1:16:09,  4.31s/it]
 22%|██▏       | 291/1350 [15:09<54:45,  3.10s/it]  
 22%|██▏       | 292/1350 [15:09<39:45,  2.25s/it]
 22%|██▏       | 293/1350 [15:10<29:16,  1.66s/it]
 22%|██▏       | 294/1350 [15:10<21:56,  1.25s/it]
 22%|██▏       | 295/1350 [15:10<16:50,  1.04it/s]
 22%|██▏       | 296/1350 [15:10<13:15,  1.32it/s]
 22%|██▏       | 297/1350 [15:31<1:59:22,  6.80s/it]
 22%|██▏       | 298/1350 [15:32<1:24:57,  4.85s/it]
 22%|██▏       | 299/1350 [15:32<1:00:55,  3.48s/it]
 22%|██▏       | 300/1350 [15:32<44:05,  2.52s/it]  
 22%|██▏       | 301/1350 [15:32<32:18,  1.85s/it]
 22%|██▏       | 302/1350 [15:33<24:03,  1.38s/it]
 22%|██▏       | 303/1350 [15:33<18:16,  1.05s/it]
 23%|██▎       | 304/1350 [15:33<14:18,  1.22it/s]
 23%|██▎       | 305/1350 [15:58<2:16:46,  7.85s/it]
 23%|██▎       | 306/1350 [15:58<1:37:06,  5.58s/it]
 23%|██▎       | 307/1350 [15:58<1:09:24,  3.99s/it]
 23%|██▎       | 308/1350 [15:58<50:02,  2.88s/it]  
 23%|██▎       | 309/1350 [15:59<36:27,  2.10s/it]
 23%|██▎       | 310/1350 [15:59<26:58,  1.56s/it]
 23%|██▎       | 311/1350 [15:59<20:20,  1.17s/it]
 23%|██▎       | 312/1350 [15:59<15:39,  1.11it/s]
 23%|██▎       | 313/1350 [16:28<2:37:58,  9.14s/it]
 23%|██▎       | 314/1350 [16:28<1:51:58,  6.49s/it]
 23%|██▎       | 315/1350 [16:28<1:19:47,  4.63s/it]
 23%|██▎       | 316/1350 [16:29<57:13,  3.32s/it]  
 23%|██▎       | 317/1350 [16:29<41:28,  2.41s/it]
 24%|██▎       | 318/1350 [16:29<30:27,  1.77s/it]
 24%|██▎       | 319/1350 [16:30<22:43,  1.32s/it]
 24%|██▎       | 320/1350 [16:30<17:21,  1.01s/it]
 24%|██▍       | 321/1350 [16:50<1:55:37,  6.74s/it]
 24%|██▍       | 322/1350 [16:50<1:22:22,  4.81s/it]
 24%|██▍       | 322/1350 [16:51<53:48,  3.14s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json.
+BlockStackingSpecifiedOrderTask_0 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_0, run: 0, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 323, duration: 21.53333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.551581530803485, 'joint_sparc_mean': -8.97914586145263, 'ee_isj': 2121.9772278740074, 'joint_isj': 22381.706221719985, 'ee_path_length': 3.0632647334410885, 'joint_rmse_mean': 0.9376336277713045, 'ee_speed_max': 0.5877335071563721, 'ee_speed_mean': 0.13369858264923096}, events: {'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 5, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'green_block', 'yellow_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 934.076, 'policy_inference_avg_ms': 2891.9, 'env_step_s': 73.866, 'env_step_avg_ms': 228.7, 'video_write_s': 2.962, 'video_write_avg_ms': 9.2, 'wall_total_s': 1010.903, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 25f85aa183834b24ae503e6c8120371c-0
+[RoboLab] Running BlockStackingSpecifiedOrderTask_1: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 1, 1 envs)
+
  0%|          | 0/1350 [00:00<?, ?it/s]
  0%|          | 1/1350 [00:45<17:11:26, 45.88s/it]
  0%|          | 2/1350 [00:46<7:07:58, 19.05s/it] 
  0%|          | 3/1350 [00:46<3:54:57, 10.47s/it]
  0%|          | 4/1350 [00:46<2:24:18,  6.43s/it]
  0%|          | 5/1350 [00:46<1:34:12,  4.20s/it]
  0%|          | 6/1350 [00:47<1:04:01,  2.86s/it]
  1%|          | 7/1350 [00:47<44:53,  2.01s/it]  
  1%|          | 8/1350 [00:47<32:20,  1.45s/it]
  1%|          | 9/1350 [00:58<1:38:57,  4.43s/it]
  1%|          | 10/1350 [00:58<1:10:03,  3.14s/it]
  1%|          | 11/1350 [00:59<50:17,  2.25s/it]  
  1%|          | 12/1350 [00:59<36:43,  1.65s/it]
  1%|          | 13/1350 [00:59<27:14,  1.22s/it]
  1%|          | 14/1350 [00:59<20:38,  1.08it/s]
  1%|          | 15/1350 [01:00<16:04,  1.38it/s]
  1%|          | 16/1350 [01:00<12:52,  1.73it/s]
  1%|▏         | 17/1350 [01:09<1:07:18,  3.03s/it]
  1%|▏         | 18/1350 [01:09<48:40,  2.19s/it]  
  1%|▏         | 19/1350 [01:09<35:40,  1.61s/it]
  1%|▏         | 20/1350 [01:09<26:34,  1.20s/it]
  2%|▏         | 21/1350 [01:10<20:13,  1.10it/s]
  2%|▏         | 22/1350 [01:10<15:46,  1.40it/s]
  2%|▏         | 23/1350 [01:10<12:42,  1.74it/s]
  2%|▏         | 24/1350 [01:10<10:31,  2.10it/s]
  2%|▏         | 25/1350 [01:23<1:33:21,  4.23s/it]
  2%|▏         | 26/1350 [01:24<1:06:56,  3.03s/it]
  2%|▏         | 27/1350 [01:24<48:26,  2.20s/it]  
  2%|▏         | 28/1350 [01:24<35:34,  1.61s/it]
  2%|▏         | 29/1350 [01:24<26:31,  1.20s/it]
  2%|▏         | 30/1350 [01:25<20:11,  1.09it/s]
  2%|▏         | 31/1350 [01:25<15:46,  1.39it/s]
  2%|▏         | 32/1350 [01:25<12:56,  1.70it/s]
  2%|▏         | 33/1350 [01:50<2:54:22,  7.94s/it]
  3%|▎         | 34/1350 [01:50<2:03:37,  5.64s/it]
  3%|▎         | 35/1350 [01:51<1:28:06,  4.02s/it]
  3%|▎         | 36/1350 [01:51<1:03:16,  2.89s/it]
  3%|▎         | 37/1350 [01:51<45:53,  2.10s/it]  
  3%|▎         | 38/1350 [01:51<33:44,  1.54s/it]
  3%|▎         | 39/1350 [01:52<25:14,  1.16s/it]
  3%|▎         | 40/1350 [01:52<19:16,  1.13it/s]
  3%|▎         | 41/1350 [02:02<1:22:33,  3.78s/it]
  3%|▎         | 42/1350 [02:03<59:19,  2.72s/it]  
  3%|▎         | 43/1350 [02:03<43:05,  1.98s/it]
  3%|▎         | 44/1350 [02:03<31:47,  1.46s/it]
  3%|▎         | 45/1350 [02:03<23:52,  1.10s/it]
  3%|▎         | 46/1350 [02:04<18:18,  1.19it/s]
  3%|▎         | 47/1350 [02:04<14:26,  1.50it/s]
  4%|▎         | 48/1350 [02:04<11:43,  1.85it/s]
  4%|▎         | 49/1350 [02:36<3:36:20,  9.98s/it]
  4%|▎         | 50/1350 [02:36<2:32:57,  7.06s/it]
  4%|▍         | 51/1350 [02:37<1:48:35,  5.02s/it]
  4%|▍         | 52/1350 [02:37<1:17:33,  3.59s/it]
  4%|▍         | 53/1350 [02:37<55:52,  2.59s/it]  
  4%|▍         | 54/1350 [02:37<40:43,  1.89s/it]
  4%|▍         | 55/1350 [02:38<30:07,  1.40s/it]
  4%|▍         | 56/1350 [02:38<22:41,  1.05s/it]
  4%|▍         | 57/1350 [02:59<2:31:15,  7.02s/it]
  4%|▍         | 58/1350 [02:59<1:47:26,  4.99s/it]
  4%|▍         | 59/1350 [02:59<1:16:45,  3.57s/it]
  4%|▍         | 60/1350 [03:00<55:19,  2.57s/it]  
  5%|▍         | 61/1350 [03:00<40:17,  1.88s/it]
  5%|▍         | 62/1350 [03:00<29:47,  1.39s/it]
  5%|▍         | 63/1350 [03:00<22:25,  1.05s/it]
  5%|▍         | 64/1350 [03:01<17:17,  1.24it/s]
  5%|▍         | 65/1350 [03:15<1:41:28,  4.74s/it]
  5%|▍         | 66/1350 [03:15<1:12:33,  3.39s/it]
  5%|▍         | 67/1350 [03:15<52:22,  2.45s/it]  
  5%|▌         | 68/1350 [03:15<38:12,  1.79s/it]
  5%|▌         | 69/1350 [03:16<28:19,  1.33s/it]
  5%|▌         | 70/1350 [03:16<21:22,  1.00s/it]
  5%|▌         | 71/1350 [03:16<16:31,  1.29it/s]
  5%|▌         | 72/1350 [03:16<13:08,  1.62it/s]
  5%|▌         | 73/1350 [03:30<1:34:34,  4.44s/it]
  5%|▌         | 74/1350 [03:30<1:07:55,  3.19s/it]
  6%|▌         | 75/1350 [03:30<49:12,  2.32s/it]  
  6%|▌         | 76/1350 [03:31<36:11,  1.70s/it]
  6%|▌         | 77/1350 [03:31<27:02,  1.27s/it]
  6%|▌         | 78/1350 [03:31<20:40,  1.03it/s]
  6%|▌         | 79/1350 [03:31<16:13,  1.31it/s]
  6%|▌         | 80/1350 [03:32<13:09,  1.61it/s]
  6%|▌         | 81/1350 [03:42<1:13:18,  3.47s/it]
  6%|▌         | 82/1350 [03:42<53:03,  2.51s/it]  
  6%|▌         | 83/1350 [03:42<38:51,  1.84s/it]
  6%|▌         | 84/1350 [03:43<28:56,  1.37s/it]
  6%|▋         | 85/1350 [03:43<22:00,  1.04s/it]
  6%|▋         | 86/1350 [03:43<17:09,  1.23it/s]
  6%|▋         | 87/1350 [03:43<13:44,  1.53it/s]
  7%|▋         | 88/1350 [03:44<11:20,  1.85it/s]
  7%|▋         | 89/1350 [04:16<3:33:17, 10.15s/it]
  7%|▋         | 90/1350 [04:17<2:30:55,  7.19s/it]
  7%|▋         | 91/1350 [04:17<1:47:19,  5.12s/it]
  7%|▋         | 92/1350 [04:17<1:16:49,  3.66s/it]
  7%|▋         | 93/1350 [04:17<55:29,  2.65s/it]  
  7%|▋         | 94/1350 [04:18<40:31,  1.94s/it]
  7%|▋         | 95/1350 [04:18<30:05,  1.44s/it]
  7%|▋         | 96/1350 [04:18<22:45,  1.09s/it]
  7%|▋         | 97/1350 [04:32<1:40:09,  4.80s/it]
  7%|▋         | 98/1350 [04:32<1:11:46,  3.44s/it]
  7%|▋         | 99/1350 [04:32<51:54,  2.49s/it]  
  7%|▋         | 100/1350 [04:32<38:02,  1.83s/it]
  7%|▋         | 101/1350 [04:33<28:20,  1.36s/it]
  8%|▊         | 102/1350 [04:33<21:30,  1.03s/it]
  8%|▊         | 103/1350 [04:33<16:45,  1.24it/s]
  8%|▊         | 104/1350 [04:34<13:25,  1.55it/s]
  8%|▊         | 105/1350 [05:02<3:08:22,  9.08s/it]
  8%|▊         | 106/1350 [05:03<2:13:29,  6.44s/it]
  8%|▊         | 107/1350 [05:03<1:35:07,  4.59s/it]
  8%|▊         | 108/1350 [05:03<1:08:17,  3.30s/it]
  8%|▊         | 109/1350 [05:03<49:30,  2.39s/it]  
  8%|▊         | 110/1350 [05:04<36:18,  1.76s/it]
  8%|▊         | 111/1350 [05:04<27:03,  1.31s/it]
  8%|▊         | 112/1350 [05:04<20:36,  1.00it/s]
  8%|▊         | 113/1350 [05:36<3:33:25, 10.35s/it]
  8%|▊         | 114/1350 [05:37<2:31:01,  7.33s/it]
  9%|▊         | 115/1350 [05:37<1:47:23,  5.22s/it]
  9%|▊         | 116/1350 [05:37<1:16:52,  3.74s/it]
  9%|▊         | 117/1350 [05:38<55:30,  2.70s/it]  
  9%|▊         | 118/1350 [05:38<40:32,  1.97s/it]
  9%|▉         | 119/1350 [05:38<30:02,  1.46s/it]
  9%|▉         | 120/1350 [05:38<22:44,  1.11s/it]
  9%|▉         | 121/1350 [05:55<1:58:54,  5.80s/it]
  9%|▉         | 122/1350 [05:55<1:24:52,  4.15s/it]
  9%|▉         | 123/1350 [05:56<1:01:03,  2.99s/it]
  9%|▉         | 124/1350 [05:56<44:23,  2.17s/it]  
  9%|▉         | 125/1350 [05:56<32:41,  1.60s/it]
  9%|▉         | 126/1350 [05:57<24:34,  1.20s/it]
  9%|▉         | 127/1350 [05:57<18:50,  1.08it/s]
  9%|▉         | 128/1350 [05:57<14:52,  1.37it/s]
 10%|▉         | 129/1350 [06:11<1:37:03,  4.77s/it]
 10%|▉         | 130/1350 [06:12<1:09:25,  3.41s/it]
 10%|▉         | 131/1350 [06:12<50:05,  2.47s/it]  
 10%|▉         | 132/1350 [06:12<36:32,  1.80s/it]
 10%|▉         | 133/1350 [06:12<27:05,  1.34s/it]
 10%|▉         | 134/1350 [06:13<20:27,  1.01s/it]
 10%|█         | 135/1350 [06:13<15:47,  1.28it/s]
 10%|█         | 136/1350 [06:13<12:32,  1.61it/s]
 10%|█         | 137/1350 [06:26<1:27:38,  4.34s/it]
 10%|█         | 138/1350 [06:26<1:02:49,  3.11s/it]
 10%|█         | 139/1350 [06:27<45:27,  2.25s/it]  
 10%|█         | 140/1350 [06:27<33:18,  1.65s/it]
 10%|█         | 141/1350 [06:27<24:47,  1.23s/it]
 11%|█         | 142/1350 [06:27<18:48,  1.07it/s]
 11%|█         | 143/1350 [06:28<14:41,  1.37it/s]
 11%|█         | 144/1350 [06:28<11:49,  1.70it/s]
 11%|█         | 145/1350 [07:02<3:36:19, 10.77s/it]
 11%|█         | 146/1350 [07:03<2:32:47,  7.61s/it]
 11%|█         | 147/1350 [07:03<1:48:32,  5.41s/it]
 11%|█         | 148/1350 [07:03<1:17:26,  3.87s/it]
 11%|█         | 149/1350 [07:03<55:40,  2.78s/it]  
 11%|█         | 150/1350 [07:04<40:26,  2.02s/it]
 11%|█         | 151/1350 [07:04<29:46,  1.49s/it]
 11%|█▏        | 152/1350 [07:04<22:25,  1.12s/it]
 11%|█▏        | 153/1350 [07:19<1:44:36,  5.24s/it]
 11%|█▏        | 154/1350 [07:19<1:14:39,  3.75s/it]
 11%|█▏        | 155/1350 [07:19<53:46,  2.70s/it]  
 12%|█▏        | 156/1350 [07:20<39:08,  1.97s/it]
 12%|█▏        | 157/1350 [07:20<28:51,  1.45s/it]
 12%|█▏        | 158/1350 [07:20<21:39,  1.09s/it]
 12%|█▏        | 159/1350 [07:20<16:38,  1.19it/s]
 12%|█▏        | 160/1350 [07:21<13:06,  1.51it/s]
 12%|█▏        | 161/1350 [07:56<3:39:01, 11.05s/it]
 12%|█▏        | 162/1350 [07:56<2:34:40,  7.81s/it]
 12%|█▏        | 163/1350 [07:57<1:49:39,  5.54s/it]
 12%|█▏        | 164/1350 [07:57<1:18:10,  3.95s/it]
 12%|█▏        | 165/1350 [07:57<56:08,  2.84s/it]  
 12%|█▏        | 166/1350 [07:57<40:53,  2.07s/it]
 12%|█▏        | 167/1350 [07:58<30:09,  1.53s/it]
 12%|█▏        | 168/1350 [07:58<22:33,  1.15s/it]
 13%|█▎        | 169/1350 [08:18<2:18:01,  7.01s/it]
 13%|█▎        | 170/1350 [08:19<1:38:01,  4.98s/it]
 13%|█▎        | 171/1350 [08:19<1:10:07,  3.57s/it]
 13%|█▎        | 172/1350 [08:19<50:30,  2.57s/it]  
 13%|█▎        | 173/1350 [08:20<36:46,  1.87s/it]
 13%|█▎        | 174/1350 [08:20<27:15,  1.39s/it]
 13%|█▎        | 175/1350 [08:20<20:33,  1.05s/it]
 13%|█▎        | 176/1350 [08:20<15:51,  1.23it/s]
 13%|█▎        | 177/1350 [08:44<2:31:18,  7.74s/it]
 13%|█▎        | 178/1350 [08:44<1:47:23,  5.50s/it]
 13%|█▎        | 179/1350 [08:45<1:16:38,  3.93s/it]
 13%|█▎        | 180/1350 [08:45<55:08,  2.83s/it]  
 13%|█▎        | 181/1350 [08:45<40:08,  2.06s/it]
 13%|█▎        | 182/1350 [08:46<29:38,  1.52s/it]
 14%|█▎        | 183/1350 [08:46<22:16,  1.15s/it]
 14%|█▎        | 184/1350 [08:46<17:07,  1.13it/s]
 14%|█▎        | 185/1350 [09:01<1:40:16,  5.16s/it]
 14%|█▍        | 186/1350 [09:01<1:11:45,  3.70s/it]
 14%|█▍        | 187/1350 [09:02<51:47,  2.67s/it]  
 14%|█▍        | 188/1350 [09:02<37:49,  1.95s/it]
 14%|█▍        | 189/1350 [09:02<28:03,  1.45s/it]
 14%|█▍        | 190/1350 [09:03<21:12,  1.10s/it]
 14%|█▍        | 191/1350 [09:03<16:29,  1.17it/s]
 14%|█▍        | 192/1350 [09:03<13:09,  1.47it/s]
 14%|█▍        | 193/1350 [09:21<1:50:31,  5.73s/it]
 14%|█▍        | 194/1350 [09:21<1:18:56,  4.10s/it]
 14%|█▍        | 195/1350 [09:21<56:49,  2.95s/it]  
 15%|█▍        | 196/1350 [09:21<41:19,  2.15s/it]
 15%|█▍        | 197/1350 [09:22<30:31,  1.59s/it]
 15%|█▍        | 198/1350 [09:22<22:55,  1.19s/it]
 15%|█▍        | 199/1350 [09:22<17:36,  1.09it/s]
 15%|█▍        | 200/1350 [09:23<13:52,  1.38it/s]
 15%|█▍        | 201/1350 [09:42<2:03:23,  6.44s/it]
 15%|█▍        | 202/1350 [09:43<1:27:53,  4.59s/it]
 15%|█▌        | 203/1350 [09:43<1:03:05,  3.30s/it]
 15%|█▌        | 204/1350 [09:43<45:44,  2.39s/it]  
 15%|█▌        | 205/1350 [09:44<33:36,  1.76s/it]
 15%|█▌        | 206/1350 [09:44<25:06,  1.32s/it]
 15%|█▌        | 207/1350 [09:44<19:08,  1.00s/it]
 15%|█▌        | 208/1350 [09:44<14:58,  1.27it/s]
 15%|█▌        | 209/1350 [10:11<2:42:49,  8.56s/it]
 16%|█▌        | 210/1350 [10:11<1:55:29,  6.08s/it]
 16%|█▌        | 211/1350 [10:12<1:22:24,  4.34s/it]
 16%|█▌        | 212/1350 [10:12<59:13,  3.12s/it]  
 16%|█▌        | 213/1350 [10:12<43:01,  2.27s/it]
 16%|█▌        | 214/1350 [10:12<31:41,  1.67s/it]
 16%|█▌        | 215/1350 [10:13<23:44,  1.26s/it]
 16%|█▌        | 216/1350 [10:13<18:10,  1.04it/s]
 16%|█▌        | 217/1350 [10:29<1:43:25,  5.48s/it]
 16%|█▌        | 218/1350 [10:29<1:13:56,  3.92s/it]
 16%|█▌        | 219/1350 [10:30<53:16,  2.83s/it]  
 16%|█▋        | 220/1350 [10:30<38:50,  2.06s/it]
 16%|█▋        | 221/1350 [10:30<28:44,  1.53s/it]
 16%|█▋        | 222/1350 [10:30<21:41,  1.15s/it]
 17%|█▋        | 223/1350 [10:31<16:49,  1.12it/s]
 17%|█▋        | 224/1350 [10:31<13:21,  1.40it/s]
 17%|█▋        | 225/1350 [10:53<2:13:46,  7.13s/it]
 17%|█▋        | 226/1350 [10:53<1:34:59,  5.07s/it]
 17%|█▋        | 227/1350 [10:54<1:07:51,  3.63s/it]
 17%|█▋        | 228/1350 [10:54<48:54,  2.62s/it]  
 17%|█▋        | 229/1350 [10:54<35:36,  1.91s/it]
 17%|█▋        | 230/1350 [10:54<26:18,  1.41s/it]
 17%|█▋        | 231/1350 [10:55<19:48,  1.06s/it]
 17%|█▋        | 232/1350 [10:55<15:15,  1.22it/s]
 17%|█▋        | 233/1350 [11:11<1:38:18,  5.28s/it]
 17%|█▋        | 234/1350 [11:11<1:10:10,  3.77s/it]
 17%|█▋        | 235/1350 [11:11<50:29,  2.72s/it]  
 17%|█▋        | 236/1350 [11:11<36:43,  1.98s/it]
 18%|█▊        | 237/1350 [11:12<27:05,  1.46s/it]
 18%|█▊        | 238/1350 [11:12<20:20,  1.10s/it]
 18%|█▊        | 239/1350 [11:12<15:37,  1.18it/s]
 18%|█▊        | 240/1350 [11:12<12:18,  1.50it/s]
 18%|█▊        | 241/1350 [11:31<1:54:38,  6.20s/it]
 18%|█▊        | 242/1350 [11:32<1:21:34,  4.42s/it]
 18%|█▊        | 243/1350 [11:32<58:23,  3.17s/it]  
 18%|█▊        | 244/1350 [11:32<42:12,  2.29s/it]
 18%|█▊        | 245/1350 [11:32<30:54,  1.68s/it]
 18%|█▊        | 246/1350 [11:33<23:03,  1.25s/it]
 18%|█▊        | 247/1350 [11:33<17:29,  1.05it/s]
 18%|█▊        | 248/1350 [11:33<13:36,  1.35it/s]
 18%|█▊        | 249/1350 [11:50<1:40:09,  5.46s/it]
 19%|█▊        | 250/1350 [11:50<1:11:26,  3.90s/it]
 19%|█▊        | 251/1350 [11:50<51:19,  2.80s/it]  
 19%|█▊        | 252/1350 [11:50<37:16,  2.04s/it]
 19%|█▊        | 253/1350 [11:51<27:26,  1.50s/it]
 19%|█▉        | 254/1350 [11:51<20:34,  1.13s/it]
 19%|█▉        | 255/1350 [11:51<15:45,  1.16it/s]
 19%|█▉        | 256/1350 [11:51<12:24,  1.47it/s]
 19%|█▉        | 257/1350 [12:21<2:49:32,  9.31s/it]
 19%|█▉        | 258/1350 [12:21<1:59:58,  6.59s/it]
 19%|█▉        | 259/1350 [12:21<1:25:16,  4.69s/it]
 19%|█▉        | 260/1350 [12:22<1:01:01,  3.36s/it]
 19%|█▉        | 261/1350 [12:22<44:02,  2.43s/it]  
 19%|█▉        | 262/1350 [12:22<32:09,  1.77s/it]
 19%|█▉        | 263/1350 [12:22<23:52,  1.32s/it]
 20%|█▉        | 264/1350 [12:23<18:05,  1.00it/s]
 20%|█▉        | 265/1350 [12:46<2:21:47,  7.84s/it]
 20%|█▉        | 266/1350 [12:47<1:40:38,  5.57s/it]
 20%|█▉        | 267/1350 [12:47<1:11:44,  3.98s/it]
 20%|█▉        | 268/1350 [12:47<51:32,  2.86s/it]  
 20%|█▉        | 269/1350 [12:48<37:24,  2.08s/it]
 20%|██        | 270/1350 [12:48<27:31,  1.53s/it]
 20%|██        | 271/1350 [12:48<20:35,  1.14s/it]
 20%|██        | 272/1350 [12:48<15:45,  1.14it/s]
 20%|██        | 273/1350 [13:07<1:52:41,  6.28s/it]
 20%|██        | 274/1350 [13:07<1:20:15,  4.48s/it]
 20%|██        | 275/1350 [13:08<57:50,  3.23s/it]  
 20%|██        | 276/1350 [13:08<41:55,  2.34s/it]
 21%|██        | 277/1350 [13:08<30:48,  1.72s/it]
 21%|██        | 278/1350 [13:09<23:03,  1.29s/it]
 21%|██        | 279/1350 [13:09<17:38,  1.01it/s]
 21%|██        | 280/1350 [13:09<13:50,  1.29it/s]
 21%|██        | 281/1350 [13:26<1:39:02,  5.56s/it]
 21%|██        | 282/1350 [13:26<1:10:47,  3.98s/it]
 21%|██        | 283/1350 [13:26<51:11,  2.88s/it]  
 21%|██        | 284/1350 [13:27<37:17,  2.10s/it]
 21%|██        | 285/1350 [13:27<27:34,  1.55s/it]
 21%|██        | 286/1350 [13:27<20:45,  1.17s/it]
 21%|██▏       | 287/1350 [13:28<15:59,  1.11it/s]
 21%|██▏       | 288/1350 [13:28<12:41,  1.40it/s]
 21%|██▏       | 289/1350 [13:53<2:23:01,  8.09s/it]
 21%|██▏       | 290/1350 [13:53<1:41:44,  5.76s/it]
 22%|██▏       | 291/1350 [13:54<1:12:38,  4.12s/it]
 22%|██▏       | 292/1350 [13:54<52:20,  2.97s/it]  
 22%|██▏       | 293/1350 [13:54<38:06,  2.16s/it]
 22%|██▏       | 294/1350 [13:55<28:07,  1.60s/it]
 22%|██▏       | 295/1350 [13:55<21:09,  1.20s/it]
 22%|██▏       | 296/1350 [13:55<16:14,  1.08it/s]
 22%|██▏       | 297/1350 [14:15<1:57:21,  6.69s/it]
 22%|██▏       | 298/1350 [14:16<1:23:32,  4.77s/it]
 22%|██▏       | 299/1350 [14:16<59:55,  3.42s/it]  
 22%|██▏       | 300/1350 [14:16<43:22,  2.48s/it]
 22%|██▏       | 301/1350 [14:16<31:49,  1.82s/it]
 22%|██▏       | 302/1350 [14:17<23:42,  1.36s/it]
 22%|██▏       | 303/1350 [14:17<18:01,  1.03s/it]
 23%|██▎       | 304/1350 [14:17<14:02,  1.24it/s]
 23%|██▎       | 305/1350 [14:40<2:10:09,  7.47s/it]
 23%|██▎       | 306/1350 [14:41<1:32:28,  5.31s/it]
 23%|██▎       | 307/1350 [14:41<1:06:07,  3.80s/it]
 23%|██▎       | 308/1350 [14:41<47:42,  2.75s/it]  
 23%|██▎       | 309/1350 [14:41<34:49,  2.01s/it]
 23%|██▎       | 310/1350 [14:42<25:48,  1.49s/it]
 23%|██▎       | 311/1350 [14:42<19:30,  1.13s/it]
 23%|██▎       | 312/1350 [14:42<15:06,  1.15it/s]
 23%|██▎       | 313/1350 [15:04<2:04:13,  7.19s/it]
 23%|██▎       | 314/1350 [15:04<1:28:19,  5.12s/it]
 23%|██▎       | 315/1350 [15:05<1:03:11,  3.66s/it]
 23%|██▎       | 316/1350 [15:05<45:41,  2.65s/it]  
 23%|██▎       | 317/1350 [15:05<33:25,  1.94s/it]
 24%|██▎       | 318/1350 [15:06<24:50,  1.44s/it]
 24%|██▎       | 319/1350 [15:06<18:50,  1.10s/it]
 24%|██▎       | 320/1350 [15:06<14:39,  1.17it/s]
 24%|██▍       | 321/1350 [15:31<2:16:36,  7.97s/it]
 24%|██▍       | 322/1350 [15:31<1:37:01,  5.66s/it]
 24%|██▍       | 323/1350 [15:31<1:09:22,  4.05s/it]
 24%|██▍       | 323/1350 [15:32<49:23,  2.89s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json.
+BlockStackingSpecifiedOrderTask_1 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_1, run: 1, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 324, duration: 21.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.813449070359241, 'joint_sparc_mean': -10.002580262889156, 'ee_isj': 1882.1929296979426, 'joint_isj': 106299.6750121472, 'ee_path_length': 2.874758561161091, 'joint_rmse_mean': 0.969133616091274, 'ee_speed_max': 0.5953291654586792, 'ee_speed_mean': 0.1228695884346962}, events: {'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'yellow_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 854.173, 'policy_inference_avg_ms': 2636.3, 'env_step_s': 75.127, 'env_step_avg_ms': 231.9, 'video_write_s': 2.699, 'video_write_avg_ms': 8.3, 'wall_total_s': 931.999, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: c1aefb374a794d8bac626ecfeb7e77d0-1
+[RoboLab] Running BlockStackingSpecifiedOrderTask_2: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 2, 1 envs)
+
  0%|          | 0/1350 [00:00<?, ?it/s]
  0%|          | 1/1350 [00:52<19:34:35, 52.24s/it]
  0%|          | 2/1350 [00:52<8:06:45, 21.67s/it] 
  0%|          | 3/1350 [00:52<4:26:51, 11.89s/it]
  0%|          | 4/1350 [00:53<2:43:34,  7.29s/it]
  0%|          | 5/1350 [00:53<1:46:31,  4.75s/it]
  0%|          | 6/1350 [00:53<1:12:07,  3.22s/it]
  1%|          | 7/1350 [00:53<50:19,  2.25s/it]  
  1%|          | 8/1350 [00:53<36:01,  1.61s/it]
  1%|          | 9/1350 [01:08<2:09:08,  5.78s/it]
  1%|          | 10/1350 [01:09<1:30:52,  4.07s/it]
  1%|          | 11/1350 [01:09<1:04:43,  2.90s/it]
  1%|          | 12/1350 [01:09<46:41,  2.09s/it]  
  1%|          | 13/1350 [01:09<34:10,  1.53s/it]
  1%|          | 14/1350 [01:10<25:31,  1.15s/it]
  1%|          | 15/1350 [01:10<19:28,  1.14it/s]
  1%|          | 16/1350 [01:10<15:16,  1.46it/s]
  1%|▏         | 17/1350 [01:32<2:35:49,  7.01s/it]
  1%|▏         | 18/1350 [01:32<1:50:34,  4.98s/it]
  1%|▏         | 19/1350 [01:32<1:18:56,  3.56s/it]
  1%|▏         | 20/1350 [01:33<56:49,  2.56s/it]  
  2%|▏         | 21/1350 [01:33<41:23,  1.87s/it]
  2%|▏         | 22/1350 [01:33<30:35,  1.38s/it]
  2%|▏         | 23/1350 [01:33<23:02,  1.04s/it]
  2%|▏         | 24/1350 [01:34<17:43,  1.25it/s]
  2%|▏         | 25/1350 [01:55<2:33:21,  6.94s/it]
  2%|▏         | 26/1350 [01:55<1:48:52,  4.93s/it]
  2%|▏         | 27/1350 [01:55<1:17:47,  3.53s/it]
  2%|▏         | 28/1350 [01:56<56:00,  2.54s/it]  
  2%|▏         | 29/1350 [01:56<40:47,  1.85s/it]
  2%|▏         | 30/1350 [01:56<30:10,  1.37s/it]
  2%|▏         | 31/1350 [01:56<22:43,  1.03s/it]
  2%|▏         | 32/1350 [01:57<17:31,  1.25it/s]
  2%|▏         | 33/1350 [02:21<2:49:50,  7.74s/it]
  3%|▎         | 34/1350 [02:21<2:00:24,  5.49s/it]
  3%|▎         | 35/1350 [02:21<1:25:50,  3.92s/it]
  3%|▎         | 36/1350 [02:21<1:01:40,  2.82s/it]
  3%|▎         | 37/1350 [02:22<44:48,  2.05s/it]  
  3%|▎         | 38/1350 [02:22<32:59,  1.51s/it]
  3%|▎         | 39/1350 [02:22<24:46,  1.13s/it]
  3%|▎         | 40/1350 [02:22<18:58,  1.15it/s]
  3%|▎         | 41/1350 [02:45<2:38:46,  7.28s/it]
  3%|▎         | 42/1350 [02:45<1:52:40,  5.17s/it]
  3%|▎         | 43/1350 [02:45<1:20:25,  3.69s/it]
  3%|▎         | 44/1350 [02:45<57:49,  2.66s/it]  
  3%|▎         | 45/1350 [02:46<42:04,  1.93s/it]
  3%|▎         | 46/1350 [02:46<31:02,  1.43s/it]
  3%|▎         | 47/1350 [02:46<23:19,  1.07s/it]
  4%|▎         | 48/1350 [02:46<17:55,  1.21it/s]
  4%|▎         | 49/1350 [03:18<3:38:16, 10.07s/it]
  4%|▎         | 50/1350 [03:18<2:34:18,  7.12s/it]
  4%|▍         | 51/1350 [03:18<1:49:30,  5.06s/it]
  4%|▍         | 52/1350 [03:19<1:18:11,  3.61s/it]
  4%|▍         | 53/1350 [03:19<56:17,  2.60s/it]  
  4%|▍         | 54/1350 [03:19<41:00,  1.90s/it]
  4%|▍         | 55/1350 [03:19<30:19,  1.40s/it]
  4%|▍         | 56/1350 [03:20<22:49,  1.06s/it]
  4%|▍         | 57/1350 [03:35<1:58:04,  5.48s/it]
  4%|▍         | 58/1350 [03:36<1:24:10,  3.91s/it]
  4%|▍         | 59/1350 [03:36<1:00:26,  2.81s/it]
  4%|▍         | 60/1350 [03:36<43:51,  2.04s/it]  
  5%|▍         | 61/1350 [03:36<32:15,  1.50s/it]
  5%|▍         | 62/1350 [03:37<24:06,  1.12s/it]
  5%|▍         | 63/1350 [03:37<18:28,  1.16it/s]
  5%|▍         | 64/1350 [03:37<14:28,  1.48it/s]
  5%|▍         | 65/1350 [03:51<1:39:44,  4.66s/it]
  5%|▍         | 66/1350 [03:51<1:11:25,  3.34s/it]
  5%|▍         | 67/1350 [03:52<51:38,  2.42s/it]  
  5%|▌         | 68/1350 [03:52<37:46,  1.77s/it]
  5%|▌         | 69/1350 [03:52<28:08,  1.32s/it]
  5%|▌         | 70/1350 [03:52<21:23,  1.00s/it]
  5%|▌         | 71/1350 [03:53<16:40,  1.28it/s]
  5%|▌         | 72/1350 [03:53<13:23,  1.59it/s]
  5%|▌         | 73/1350 [04:03<1:15:19,  3.54s/it]
  5%|▌         | 74/1350 [04:04<54:27,  2.56s/it]  
  6%|▌         | 75/1350 [04:04<39:47,  1.87s/it]
  6%|▌         | 76/1350 [04:04<29:35,  1.39s/it]
  6%|▌         | 77/1350 [04:04<22:23,  1.06s/it]
  6%|▌         | 78/1350 [04:05<17:24,  1.22it/s]
  6%|▌         | 79/1350 [04:05<13:55,  1.52it/s]
  6%|▌         | 80/1350 [04:05<11:28,  1.84it/s]
  6%|▌         | 81/1350 [04:30<2:43:00,  7.71s/it]
  6%|▌         | 82/1350 [04:30<1:55:44,  5.48s/it]
  6%|▌         | 83/1350 [04:30<1:22:39,  3.91s/it]
  6%|▌         | 84/1350 [04:30<59:31,  2.82s/it]  
  6%|▋         | 85/1350 [04:31<43:19,  2.06s/it]
  6%|▋         | 86/1350 [04:31<32:03,  1.52s/it]
  6%|▋         | 87/1350 [04:31<24:11,  1.15s/it]
  7%|▋         | 88/1350 [04:32<18:40,  1.13it/s]
  7%|▋         | 89/1350 [04:52<2:24:51,  6.89s/it]
  7%|▋         | 90/1350 [04:53<1:43:07,  4.91s/it]
  7%|▋         | 91/1350 [04:53<1:13:51,  3.52s/it]
  7%|▋         | 92/1350 [04:53<53:20,  2.54s/it]  
  7%|▋         | 93/1350 [04:54<39:03,  1.86s/it]
  7%|▋         | 94/1350 [04:54<29:02,  1.39s/it]
  7%|▋         | 95/1350 [04:54<22:03,  1.05s/it]
  7%|▋         | 96/1350 [04:54<17:10,  1.22it/s]
  7%|▋         | 97/1350 [05:38<4:46:01, 13.70s/it]
  7%|▋         | 98/1350 [05:38<3:21:47,  9.67s/it]
  7%|▋         | 99/1350 [05:39<2:22:50,  6.85s/it]
  7%|▋         | 100/1350 [05:39<1:41:38,  4.88s/it]
  7%|▋         | 101/1350 [05:39<1:12:46,  3.50s/it]
  8%|▊         | 102/1350 [05:39<52:36,  2.53s/it]  
  8%|▊         | 103/1350 [05:40<38:30,  1.85s/it]
  8%|▊         | 104/1350 [05:40<28:39,  1.38s/it]
  8%|▊         | 105/1350 [06:27<5:11:11, 15.00s/it]
  8%|▊         | 106/1350 [06:27<3:39:24, 10.58s/it]
  8%|▊         | 107/1350 [06:27<2:35:11,  7.49s/it]
  8%|▊         | 108/1350 [06:28<1:50:13,  5.32s/it]
  8%|▊         | 109/1350 [06:28<1:18:45,  3.81s/it]
  8%|▊         | 110/1350 [06:28<56:46,  2.75s/it]  
  8%|▊         | 111/1350 [06:28<41:25,  2.01s/it]
  8%|▊         | 112/1350 [06:29<30:40,  1.49s/it]
  8%|▊         | 113/1350 [06:46<2:06:00,  6.11s/it]
  8%|▊         | 114/1350 [06:46<1:29:53,  4.36s/it]
  9%|▊         | 115/1350 [06:46<1:04:36,  3.14s/it]
  9%|▊         | 116/1350 [06:46<46:50,  2.28s/it]  
  9%|▊         | 117/1350 [06:47<34:28,  1.68s/it]
  9%|▊         | 118/1350 [06:47<25:48,  1.26s/it]
  9%|▉         | 119/1350 [06:47<19:44,  1.04it/s]
  9%|▉         | 120/1350 [06:48<15:27,  1.33it/s]
  9%|▉         | 121/1350 [07:04<1:54:02,  5.57s/it]
  9%|▉         | 122/1350 [07:05<1:21:17,  3.97s/it]
  9%|▉         | 123/1350 [07:05<58:22,  2.85s/it]  
  9%|▉         | 124/1350 [07:05<42:19,  2.07s/it]
  9%|▉         | 125/1350 [07:05<31:09,  1.53s/it]
  9%|▉         | 126/1350 [07:06<23:21,  1.15s/it]
  9%|▉         | 127/1350 [07:06<17:52,  1.14it/s]
  9%|▉         | 128/1350 [07:06<14:01,  1.45it/s]
 10%|▉         | 129/1350 [07:21<1:42:28,  5.04s/it]
 10%|▉         | 130/1350 [07:22<1:13:12,  3.60s/it]
 10%|▉         | 131/1350 [07:22<52:41,  2.59s/it]  
 10%|▉         | 132/1350 [07:22<38:21,  1.89s/it]
 10%|▉         | 133/1350 [07:22<28:20,  1.40s/it]
 10%|▉         | 134/1350 [07:23<21:21,  1.05s/it]
 10%|█         | 135/1350 [07:23<16:27,  1.23it/s]
 10%|█         | 136/1350 [07:23<13:00,  1.56it/s]
 10%|█         | 137/1350 [07:43<2:12:52,  6.57s/it]
 10%|█         | 138/1350 [07:44<1:34:27,  4.68s/it]
 10%|█         | 139/1350 [07:44<1:07:34,  3.35s/it]
 10%|█         | 140/1350 [07:44<48:46,  2.42s/it]  
 10%|█         | 141/1350 [07:44<35:39,  1.77s/it]
 11%|█         | 142/1350 [07:45<26:29,  1.32s/it]
 11%|█         | 143/1350 [07:45<20:02,  1.00it/s]
 11%|█         | 144/1350 [07:45<15:33,  1.29it/s]
 11%|█         | 145/1350 [08:00<1:41:59,  5.08s/it]
 11%|█         | 146/1350 [08:01<1:12:52,  3.63s/it]
 11%|█         | 147/1350 [08:01<52:29,  2.62s/it]  
 11%|█         | 148/1350 [08:01<38:18,  1.91s/it]
 11%|█         | 149/1350 [08:01<28:19,  1.41s/it]
 11%|█         | 150/1350 [08:02<21:18,  1.07s/it]
 11%|█         | 151/1350 [08:02<16:26,  1.22it/s]
 11%|█▏        | 152/1350 [08:02<13:00,  1.54it/s]
 11%|█▏        | 153/1350 [08:26<2:30:56,  7.57s/it]
 11%|█▏        | 154/1350 [08:26<1:47:03,  5.37s/it]
 11%|█▏        | 155/1350 [08:26<1:16:22,  3.83s/it]
 12%|█▏        | 156/1350 [08:27<54:56,  2.76s/it]  
 12%|█▏        | 157/1350 [08:27<39:53,  2.01s/it]
 12%|█▏        | 158/1350 [08:27<29:23,  1.48s/it]
 12%|█▏        | 159/1350 [08:27<22:03,  1.11s/it]
 12%|█▏        | 160/1350 [08:28<16:55,  1.17it/s]
 12%|█▏        | 161/1350 [08:48<2:14:05,  6.77s/it]
 12%|█▏        | 162/1350 [08:48<1:35:15,  4.81s/it]
 12%|█▏        | 163/1350 [08:49<1:08:06,  3.44s/it]
 12%|█▏        | 164/1350 [08:49<49:08,  2.49s/it]  
 12%|█▏        | 165/1350 [08:49<35:54,  1.82s/it]
 12%|█▏        | 166/1350 [08:49<26:36,  1.35s/it]
 12%|█▏        | 167/1350 [08:50<20:05,  1.02s/it]
 12%|█▏        | 168/1350 [08:50<15:32,  1.27it/s]
 13%|█▎        | 169/1350 [09:05<1:41:07,  5.14s/it]
 13%|█▎        | 170/1350 [09:05<1:12:11,  3.67s/it]
 13%|█▎        | 171/1350 [09:06<51:56,  2.64s/it]  
 13%|█▎        | 172/1350 [09:06<37:47,  1.92s/it]
 13%|█▎        | 173/1350 [09:06<27:54,  1.42s/it]
 13%|█▎        | 174/1350 [09:06<21:02,  1.07s/it]
 13%|█▎        | 175/1350 [09:07<16:13,  1.21it/s]
 13%|█▎        | 176/1350 [09:07<12:49,  1.53it/s]
 13%|█▎        | 177/1350 [09:24<1:48:44,  5.56s/it]
 13%|█▎        | 178/1350 [09:24<1:17:30,  3.97s/it]
 13%|█▎        | 179/1350 [09:24<55:40,  2.85s/it]  
 13%|█▎        | 180/1350 [09:25<40:24,  2.07s/it]
 13%|█▎        | 181/1350 [09:25<29:46,  1.53s/it]
 13%|█▎        | 182/1350 [09:25<22:19,  1.15s/it]
 14%|█▎        | 183/1350 [09:25<17:06,  1.14it/s]
 14%|█▎        | 184/1350 [09:26<13:27,  1.44it/s]
 14%|█▎        | 185/1350 [09:54<2:53:50,  8.95s/it]
 14%|█▍        | 186/1350 [09:54<2:03:14,  6.35s/it]
 14%|█▍        | 187/1350 [09:54<1:27:49,  4.53s/it]
 14%|█▍        | 188/1350 [09:55<1:03:00,  3.25s/it]
 14%|█▍        | 189/1350 [09:55<45:43,  2.36s/it]  
 14%|█▍        | 190/1350 [09:55<33:34,  1.74s/it]
 14%|█▍        | 191/1350 [09:56<25:03,  1.30s/it]
 14%|█▍        | 192/1350 [09:56<19:11,  1.01it/s]
 14%|█▍        | 193/1350 [10:12<1:46:57,  5.55s/it]
 14%|█▍        | 194/1350 [10:12<1:16:24,  3.97s/it]
 14%|█▍        | 195/1350 [10:13<55:02,  2.86s/it]  
 15%|█▍        | 196/1350 [10:13<40:05,  2.08s/it]
 15%|█▍        | 197/1350 [10:13<29:38,  1.54s/it]
 15%|█▍        | 198/1350 [10:13<22:21,  1.16s/it]
 15%|█▍        | 199/1350 [10:14<17:15,  1.11it/s]
 15%|█▍        | 200/1350 [10:14<13:39,  1.40it/s]
 15%|█▍        | 201/1350 [10:32<1:52:41,  5.88s/it]
 15%|█▍        | 202/1350 [10:32<1:20:28,  4.21s/it]
 15%|█▌        | 203/1350 [10:33<57:54,  3.03s/it]  
 15%|█▌        | 204/1350 [10:33<42:02,  2.20s/it]
 15%|█▌        | 205/1350 [10:33<31:01,  1.63s/it]
 15%|█▌        | 206/1350 [10:33<23:21,  1.22s/it]
 15%|█▌        | 207/1350 [10:34<17:55,  1.06it/s]
 15%|█▌        | 208/1350 [10:34<14:07,  1.35it/s]
 15%|█▌        | 209/1350 [10:51<1:47:24,  5.65s/it]
 16%|█▌        | 210/1350 [10:51<1:16:42,  4.04s/it]
 16%|█▌        | 211/1350 [10:52<55:15,  2.91s/it]  
 16%|█▌        | 212/1350 [10:52<40:14,  2.12s/it]
 16%|█▌        | 213/1350 [10:52<29:42,  1.57s/it]
 16%|█▌        | 214/1350 [10:52<22:22,  1.18s/it]
 16%|█▌        | 215/1350 [10:53<17:11,  1.10it/s]
 16%|█▌        | 216/1350 [10:53<13:37,  1.39it/s]
 16%|█▌        | 217/1350 [11:15<2:16:11,  7.21s/it]
 16%|█▌        | 218/1350 [11:16<1:36:53,  5.14s/it]
 16%|█▌        | 219/1350 [11:16<1:09:25,  3.68s/it]
 16%|█▋        | 220/1350 [11:16<50:09,  2.66s/it]  
 16%|█▋        | 221/1350 [11:16<36:41,  1.95s/it]
 16%|█▋        | 222/1350 [11:17<27:18,  1.45s/it]
 17%|█▋        | 223/1350 [11:17<20:43,  1.10s/it]
 17%|█▋        | 224/1350 [11:17<16:07,  1.16it/s]
 17%|█▋        | 225/1350 [11:37<2:00:00,  6.40s/it]
 17%|█▋        | 226/1350 [11:37<1:25:32,  4.57s/it]
 17%|█▋        | 227/1350 [11:37<1:01:22,  3.28s/it]
 17%|█▋        | 228/1350 [11:38<44:28,  2.38s/it]  
 17%|█▋        | 229/1350 [11:38<32:37,  1.75s/it]
 17%|█▋        | 230/1350 [11:38<24:24,  1.31s/it]
 17%|█▋        | 231/1350 [11:38<18:38,  1.00it/s]
 17%|█▋        | 232/1350 [11:39<14:34,  1.28it/s]
 17%|█▋        | 233/1350 [11:56<1:46:23,  5.71s/it]
 17%|█▋        | 234/1350 [11:56<1:15:48,  4.08s/it]
 17%|█▋        | 235/1350 [11:56<54:22,  2.93s/it]  
 17%|█▋        | 236/1350 [11:57<39:25,  2.12s/it]
 18%|█▊        | 237/1350 [11:57<28:57,  1.56s/it]
 18%|█▊        | 238/1350 [11:57<21:38,  1.17s/it]
 18%|█▊        | 239/1350 [11:57<16:34,  1.12it/s]
 18%|█▊        | 240/1350 [11:58<13:00,  1.42it/s]
 18%|█▊        | 241/1350 [12:17<1:58:08,  6.39s/it]
 18%|█▊        | 242/1350 [12:18<1:24:05,  4.55s/it]
 18%|█▊        | 243/1350 [12:18<1:00:16,  3.27s/it]
 18%|█▊        | 244/1350 [12:18<43:36,  2.37s/it]  
 18%|█▊        | 245/1350 [12:18<31:54,  1.73s/it]
 18%|█▊        | 246/1350 [12:19<23:44,  1.29s/it]
 18%|█▊        | 247/1350 [12:19<18:00,  1.02it/s]
 18%|█▊        | 248/1350 [12:19<13:58,  1.31it/s]
 18%|█▊        | 249/1350 [12:37<1:48:34,  5.92s/it]
 19%|█▊        | 250/1350 [12:37<1:17:20,  4.22s/it]
 19%|█▊        | 251/1350 [12:38<55:28,  3.03s/it]  
 19%|█▊        | 252/1350 [12:38<40:11,  2.20s/it]
 19%|█▊        | 253/1350 [12:38<29:29,  1.61s/it]
 19%|█▉        | 254/1350 [12:38<21:59,  1.20s/it]
 19%|█▉        | 255/1350 [12:39<16:42,  1.09it/s]
 19%|█▉        | 256/1350 [12:39<13:04,  1.39it/s]
 19%|█▉        | 257/1350 [13:02<2:16:15,  7.48s/it]
 19%|█▉        | 258/1350 [13:02<1:36:40,  5.31s/it]
 19%|█▉        | 259/1350 [13:03<1:08:58,  3.79s/it]
 19%|█▉        | 260/1350 [13:03<49:36,  2.73s/it]  
 19%|█▉        | 261/1350 [13:03<36:03,  1.99s/it]
 19%|█▉        | 262/1350 [13:03<26:34,  1.47s/it]
 19%|█▉        | 263/1350 [13:04<19:57,  1.10s/it]
 20%|█▉        | 264/1350 [13:04<15:19,  1.18it/s]
 20%|█▉        | 265/1350 [13:23<1:55:35,  6.39s/it]
 20%|█▉        | 266/1350 [13:23<1:22:11,  4.55s/it]
 20%|█▉        | 267/1350 [13:24<58:52,  3.26s/it]  
 20%|█▉        | 268/1350 [13:24<42:31,  2.36s/it]
 20%|█▉        | 269/1350 [13:24<31:07,  1.73s/it]
 20%|██        | 270/1350 [13:24<23:08,  1.29s/it]
 20%|██        | 271/1350 [13:25<17:33,  1.02it/s]
 20%|██        | 272/1350 [13:25<13:50,  1.30it/s]
 20%|██        | 273/1350 [13:47<2:07:03,  7.08s/it]
 20%|██        | 274/1350 [13:47<1:30:17,  5.03s/it]
 20%|██        | 275/1350 [13:47<1:04:29,  3.60s/it]
 20%|██        | 276/1350 [13:48<46:28,  2.60s/it]  
 21%|██        | 277/1350 [13:48<33:51,  1.89s/it]
 21%|██        | 278/1350 [13:48<25:03,  1.40s/it]
 21%|██        | 279/1350 [13:48<18:51,  1.06s/it]
 21%|██        | 280/1350 [13:49<14:31,  1.23it/s]
 21%|██        | 281/1350 [14:22<3:10:30, 10.69s/it]
 21%|██        | 282/1350 [14:23<2:14:46,  7.57s/it]
 21%|██        | 283/1350 [14:23<1:35:39,  5.38s/it]
 21%|██        | 284/1350 [14:23<1:08:19,  3.85s/it]
 21%|██        | 285/1350 [14:23<49:12,  2.77s/it]  
 21%|██        | 286/1350 [14:24<35:50,  2.02s/it]
 21%|██▏       | 287/1350 [14:24<26:31,  1.50s/it]
 21%|██▏       | 288/1350 [14:24<19:58,  1.13s/it]
 21%|██▏       | 289/1350 [14:48<2:18:48,  7.85s/it]
 21%|██▏       | 290/1350 [14:48<1:38:36,  5.58s/it]
 22%|██▏       | 291/1350 [14:48<1:10:33,  4.00s/it]
 22%|██▏       | 292/1350 [14:49<50:50,  2.88s/it]  
 22%|██▏       | 293/1350 [14:49<37:02,  2.10s/it]
 22%|██▏       | 294/1350 [14:49<27:24,  1.56s/it]
 22%|██▏       | 295/1350 [14:49<20:43,  1.18s/it]
 22%|██▏       | 296/1350 [14:50<16:01,  1.10it/s]
 22%|██▏       | 297/1350 [15:10<2:00:07,  6.84s/it]
 22%|██▏       | 298/1350 [15:11<1:25:30,  4.88s/it]
 22%|██▏       | 299/1350 [15:11<1:01:16,  3.50s/it]
 22%|██▏       | 300/1350 [15:11<44:18,  2.53s/it]  
 22%|██▏       | 301/1350 [15:12<32:26,  1.86s/it]
 22%|██▏       | 302/1350 [15:12<24:07,  1.38s/it]
 22%|██▏       | 303/1350 [15:12<18:20,  1.05s/it]
 23%|██▎       | 304/1350 [15:12<14:18,  1.22it/s]
 23%|██▎       | 305/1350 [15:36<2:14:46,  7.74s/it]
 23%|██▎       | 306/1350 [15:37<1:35:45,  5.50s/it]
 23%|██▎       | 307/1350 [15:37<1:08:28,  3.94s/it]
 23%|██▎       | 308/1350 [15:37<49:26,  2.85s/it]  
 23%|██▎       | 309/1350 [15:37<36:02,  2.08s/it]
 23%|██▎       | 310/1350 [15:38<26:39,  1.54s/it]
 23%|██▎       | 311/1350 [15:38<20:05,  1.16s/it]
 23%|██▎       | 312/1350 [15:38<15:30,  1.12it/s]
 23%|██▎       | 313/1350 [16:10<2:57:11, 10.25s/it]
 23%|██▎       | 314/1350 [16:11<2:05:27,  7.27s/it]
 23%|██▎       | 315/1350 [16:11<1:29:12,  5.17s/it]
 23%|██▎       | 316/1350 [16:11<1:03:50,  3.70s/it]
 23%|██▎       | 317/1350 [16:12<46:07,  2.68s/it]  
 24%|██▎       | 318/1350 [16:12<33:41,  1.96s/it]
 24%|██▎       | 319/1350 [16:12<25:01,  1.46s/it]
 24%|██▎       | 320/1350 [16:12<18:56,  1.10s/it]
 24%|██▎       | 320/1350 [16:37<53:30,  3.12s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json.
+BlockStackingSpecifiedOrderTask_2 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_2, run: 2, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 321, duration: 21.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.831777004415824, 'joint_sparc_mean': -8.082602756953642, 'ee_isj': 1874.8931320829286, 'joint_isj': 20076.022626516293, 'ee_path_length': 2.839972592887329, 'joint_rmse_mean': 0.9442429856023844, 'ee_speed_max': 0.5819272994995117, 'ee_speed_mean': 0.12396387755870819}, events: {'GRIPPER_FULLY_CLOSED': 1, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 921.215, 'policy_inference_avg_ms': 2869.8, 'env_step_s': 73.075, 'env_step_avg_ms': 227.6, 'video_write_s': 3.101, 'video_write_avg_ms': 9.7, 'wall_total_s': 997.391, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: a388cb552faf4c8995afcd6893a455c6-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T16:13:34Z [5,168,097ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.223372 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T16:13:37Z [5,170,946ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T16:13:37Z [5,171,040ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:13:37Z [5,171,040ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:13:37Z [5,171,049ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:13:37Z [5,171,050ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:13:37Z [5,171,058ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:13:37Z [5,171,065ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T16:13:38Z [5,171,606ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((627))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,606ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((627))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,698ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((668))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,698ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((668))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,714ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,714ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,754ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((691))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,754ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((691))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,762ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((694))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,762ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((694))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,891ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((758))' not available in the MDL representation.
+2026-11-03T16:13:38Z [5,171,891ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((758))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,451ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((627))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,451ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((627))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,453ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((668))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,453ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((668))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,454ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,454ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,455ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((691))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,455ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((691))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,455ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((694))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,456ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((694))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,459ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((758))' not available in the MDL representation.
+2026-11-03T16:13:39Z [5,172,459ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((758))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.250453 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientRedMugTask                            │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the red mug upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientRedMugTaskSceneEnvCfg                 │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientRedMugTask_0: 'Put the red mug upright so that the opening is facing upwards.' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:02<15:42:45, 62.92s/it]
  0%|          | 2/900 [01:03<6:30:34, 26.10s/it] 
  0%|          | 3/900 [01:03<3:34:07, 14.32s/it]
  0%|          | 4/900 [01:03<2:11:17,  8.79s/it]
  1%|          | 5/900 [01:04<1:25:32,  5.74s/it]
  1%|          | 6/900 [01:04<57:58,  3.89s/it]  
  1%|          | 7/900 [01:04<40:30,  2.72s/it]
  1%|          | 8/900 [01:05<29:03,  1.95s/it]
  1%|          | 9/900 [01:19<1:25:28,  5.76s/it]
  1%|          | 10/900 [01:19<1:00:30,  4.08s/it]
  1%|          | 11/900 [01:19<43:21,  2.93s/it]  
  1%|▏         | 12/900 [01:20<31:32,  2.13s/it]
  1%|▏         | 13/900 [01:20<23:22,  1.58s/it]
  2%|▏         | 14/900 [01:20<17:40,  1.20s/it]
  2%|▏         | 15/900 [01:21<13:44,  1.07it/s]
  2%|▏         | 16/900 [01:21<11:01,  1.34it/s]
  2%|▏         | 17/900 [01:41<1:36:36,  6.56s/it]
  2%|▏         | 18/900 [01:41<1:09:00,  4.69s/it]
  2%|▏         | 19/900 [01:42<49:43,  3.39s/it]  
  2%|▏         | 20/900 [01:42<36:12,  2.47s/it]
  2%|▏         | 21/900 [01:42<26:46,  1.83s/it]
  2%|▏         | 22/900 [01:43<20:08,  1.38s/it]
  3%|▎         | 23/900 [01:43<15:32,  1.06s/it]
  3%|▎         | 24/900 [01:43<12:19,  1.18it/s]
  3%|▎         | 25/900 [01:59<1:15:12,  5.16s/it]
  3%|▎         | 26/900 [01:59<54:03,  3.71s/it]  
  3%|▎         | 27/900 [01:59<39:15,  2.70s/it]
  3%|▎         | 28/900 [02:00<28:56,  1.99s/it]
  3%|▎         | 29/900 [02:00<21:42,  1.50s/it]
  3%|▎         | 30/900 [02:00<16:37,  1.15s/it]
  3%|▎         | 31/900 [02:01<13:04,  1.11it/s]
  4%|▎         | 32/900 [02:01<10:36,  1.36it/s]
  4%|▎         | 33/900 [02:26<1:57:10,  8.11s/it]
  4%|▍         | 34/900 [02:27<1:23:25,  5.78s/it]
  4%|▍         | 35/900 [02:27<59:50,  4.15s/it]  
  4%|▍         | 36/900 [02:27<43:18,  3.01s/it]
  4%|▍         | 37/900 [02:28<31:39,  2.20s/it]
  4%|▍         | 38/900 [02:28<23:33,  1.64s/it]
  4%|▍         | 39/900 [02:28<17:50,  1.24s/it]
  4%|▍         | 40/900 [02:29<13:54,  1.03it/s]
  5%|▍         | 41/900 [02:44<1:15:24,  5.27s/it]
  5%|▍         | 42/900 [02:44<54:11,  3.79s/it]  
  5%|▍         | 43/900 [02:45<39:22,  2.76s/it]
  5%|▍         | 44/900 [02:45<28:52,  2.02s/it]
  5%|▌         | 45/900 [02:45<21:42,  1.52s/it]
  5%|▌         | 46/900 [02:46<16:28,  1.16s/it]
  5%|▌         | 47/900 [02:46<12:47,  1.11it/s]
  5%|▌         | 48/900 [02:46<10:13,  1.39it/s]
  5%|▌         | 49/900 [03:06<1:30:57,  6.41s/it]
  6%|▌         | 50/900 [03:06<1:04:54,  4.58s/it]
  6%|▌         | 51/900 [03:06<46:41,  3.30s/it]  
  6%|▌         | 52/900 [03:07<34:04,  2.41s/it]
  6%|▌         | 53/900 [03:07<25:11,  1.78s/it]
  6%|▌         | 54/900 [03:07<18:57,  1.34s/it]
  6%|▌         | 55/900 [03:08<14:34,  1.04s/it]
  6%|▌         | 56/900 [03:08<11:30,  1.22it/s]
  6%|▋         | 57/900 [03:26<1:22:52,  5.90s/it]
  6%|▋         | 58/900 [03:26<59:17,  4.22s/it]  
  7%|▋         | 59/900 [03:26<42:47,  3.05s/it]
  7%|▋         | 60/900 [03:27<31:14,  2.23s/it]
  7%|▋         | 61/900 [03:27<23:09,  1.66s/it]
  7%|▋         | 62/900 [03:27<17:31,  1.25s/it]
  7%|▋         | 63/900 [03:28<13:38,  1.02it/s]
  7%|▋         | 64/900 [03:28<10:57,  1.27it/s]
  7%|▋         | 65/900 [03:43<1:10:31,  5.07s/it]
  7%|▋         | 66/900 [03:43<50:42,  3.65s/it]  
  7%|▋         | 67/900 [03:44<36:51,  2.65s/it]
  8%|▊         | 68/900 [03:44<27:09,  1.96s/it]
  8%|▊         | 69/900 [03:44<20:23,  1.47s/it]
  8%|▊         | 70/900 [03:45<15:37,  1.13s/it]
  8%|▊         | 71/900 [03:45<12:28,  1.11it/s]
  8%|▊         | 72/900 [03:46<10:06,  1.37it/s]
  8%|▊         | 73/900 [03:57<53:53,  3.91s/it]
  8%|▊         | 74/900 [03:57<39:03,  2.84s/it]
  8%|▊         | 75/900 [03:58<28:43,  2.09s/it]
  8%|▊         | 76/900 [03:58<21:29,  1.56s/it]
  9%|▊         | 77/900 [03:58<16:29,  1.20s/it]
  9%|▊         | 78/900 [03:59<12:56,  1.06it/s]
  9%|▉         | 79/900 [03:59<10:29,  1.30it/s]
  9%|▉         | 80/900 [03:59<08:43,  1.57it/s]
  9%|▉         | 81/900 [04:38<2:45:42, 12.14s/it]
  9%|▉         | 82/900 [04:39<1:57:14,  8.60s/it]
  9%|▉         | 83/900 [04:39<1:23:23,  6.12s/it]
  9%|▉         | 84/900 [04:39<59:40,  4.39s/it]  
  9%|▉         | 85/900 [04:40<43:08,  3.18s/it]
 10%|▉         | 86/900 [04:40<31:31,  2.32s/it]
 10%|▉         | 87/900 [04:40<23:26,  1.73s/it]
 10%|▉         | 88/900 [04:41<17:45,  1.31s/it]
 10%|▉         | 89/900 [04:56<1:16:42,  5.68s/it]
 10%|█         | 90/900 [04:57<55:04,  4.08s/it]  
 10%|█         | 91/900 [04:57<39:53,  2.96s/it]
 10%|█         | 92/900 [04:58<29:19,  2.18s/it]
 10%|█         | 93/900 [04:58<21:57,  1.63s/it]
 10%|█         | 94/900 [04:58<16:41,  1.24s/it]
 11%|█         | 95/900 [04:59<13:02,  1.03it/s]
 11%|█         | 96/900 [04:59<10:28,  1.28it/s]
 11%|█         | 97/900 [05:12<58:10,  4.35s/it]
 11%|█         | 98/900 [05:12<42:05,  3.15s/it]
 11%|█         | 99/900 [05:12<31:05,  2.33s/it]
 11%|█         | 100/900 [05:13<23:07,  1.73s/it]
 11%|█         | 101/900 [05:13<17:27,  1.31s/it]
 11%|█▏        | 102/900 [05:13<13:29,  1.01s/it]
 11%|█▏        | 103/900 [05:14<10:42,  1.24it/s]
 12%|█▏        | 104/900 [05:14<08:44,  1.52it/s]
 12%|█▏        | 105/900 [05:31<1:15:43,  5.72s/it]
 12%|█▏        | 106/900 [05:32<54:15,  4.10s/it]  
 12%|█▏        | 107/900 [05:32<39:19,  2.98s/it]
 12%|█▏        | 108/900 [05:33<28:54,  2.19s/it]
 12%|█▏        | 109/900 [05:33<21:27,  1.63s/it]
 12%|█▏        | 110/900 [05:33<16:13,  1.23s/it]
 12%|█▏        | 111/900 [05:33<12:34,  1.05it/s]
 12%|█▏        | 112/900 [05:34<10:00,  1.31it/s]
 13%|█▎        | 113/900 [05:45<52:49,  4.03s/it]
 13%|█▎        | 114/900 [05:46<38:10,  2.91s/it]
 13%|█▎        | 115/900 [05:46<27:54,  2.13s/it]
 13%|█▎        | 116/900 [05:46<20:43,  1.59s/it]
 13%|█▎        | 117/900 [05:47<15:42,  1.20s/it]
 13%|█▎        | 118/900 [05:47<12:15,  1.06it/s]
 13%|█▎        | 119/900 [05:47<09:46,  1.33it/s]
 13%|█▎        | 120/900 [05:48<08:01,  1.62it/s]
 13%|█▎        | 121/900 [06:13<1:44:05,  8.02s/it]
 14%|█▎        | 122/900 [06:13<1:13:59,  5.71s/it]
 14%|█▎        | 123/900 [06:14<52:54,  4.09s/it]  
 14%|█▍        | 124/900 [06:14<38:10,  2.95s/it]
 14%|█▍        | 125/900 [06:14<27:52,  2.16s/it]
 14%|█▍        | 126/900 [06:14<20:42,  1.60s/it]
 14%|█▍        | 127/900 [06:15<15:39,  1.22s/it]
 14%|█▍        | 128/900 [06:15<12:06,  1.06it/s]
 14%|█▍        | 129/900 [06:45<2:03:38,  9.62s/it]
 14%|█▍        | 130/900 [06:45<1:27:37,  6.83s/it]
 15%|█▍        | 131/900 [06:46<1:02:27,  4.87s/it]
 15%|█▍        | 132/900 [06:46<44:50,  3.50s/it]  
 15%|█▍        | 133/900 [06:46<32:32,  2.55s/it]
 15%|█▍        | 134/900 [06:46<23:57,  1.88s/it]
 15%|█▌        | 135/900 [06:47<17:54,  1.41s/it]
 15%|█▌        | 136/900 [06:47<13:42,  1.08s/it]
 15%|█▌        | 137/900 [07:03<1:12:04,  5.67s/it]
 15%|█▌        | 138/900 [07:04<51:33,  4.06s/it]  
 15%|█▌        | 139/900 [07:04<37:13,  2.93s/it]
 16%|█▌        | 140/900 [07:04<27:11,  2.15s/it]
 16%|█▌        | 141/900 [07:05<20:11,  1.60s/it]
 16%|█▌        | 142/900 [07:05<15:17,  1.21s/it]
 16%|█▌        | 143/900 [07:05<11:56,  1.06it/s]
 16%|█▌        | 144/900 [07:06<09:37,  1.31it/s]
 16%|█▌        | 145/900 [07:21<1:06:10,  5.26s/it]
 16%|█▌        | 146/900 [07:22<47:32,  3.78s/it]  
 16%|█▋        | 147/900 [07:22<34:29,  2.75s/it]
 16%|█▋        | 148/900 [07:22<25:21,  2.02s/it]
 17%|█▋        | 149/900 [07:23<19:00,  1.52s/it]
 17%|█▋        | 150/900 [07:23<14:32,  1.16s/it]
 17%|█▋        | 151/900 [07:23<11:25,  1.09it/s]
 17%|█▋        | 152/900 [07:24<09:15,  1.35it/s]
 17%|█▋        | 153/900 [07:41<1:11:48,  5.77s/it]
 17%|█▋        | 154/900 [07:42<51:28,  4.14s/it]  
 17%|█▋        | 155/900 [07:42<37:15,  3.00s/it]
 17%|█▋        | 156/900 [07:42<27:19,  2.20s/it]
 17%|█▋        | 157/900 [07:43<20:23,  1.65s/it]
 18%|█▊        | 158/900 [07:43<15:31,  1.26s/it]
 18%|█▊        | 159/900 [07:43<12:07,  1.02it/s]
 18%|█▊        | 160/900 [07:44<09:44,  1.27it/s]
 18%|█▊        | 161/900 [08:11<1:47:56,  8.76s/it]
 18%|█▊        | 162/900 [08:11<1:16:43,  6.24s/it]
 18%|█▊        | 163/900 [08:12<54:53,  4.47s/it]  
 18%|█▊        | 164/900 [08:12<39:36,  3.23s/it]
 18%|█▊        | 165/900 [08:12<28:57,  2.36s/it]
 18%|█▊        | 166/900 [08:13<21:28,  1.76s/it]
 19%|█▊        | 167/900 [08:13<16:17,  1.33s/it]
 19%|█▊        | 168/900 [08:13<12:36,  1.03s/it]
 19%|█▉        | 169/900 [08:27<59:21,  4.87s/it]
 19%|█▉        | 170/900 [08:28<42:44,  3.51s/it]
 19%|█▉        | 171/900 [08:28<31:07,  2.56s/it]
 19%|█▉        | 172/900 [08:28<22:59,  1.90s/it]
 19%|█▉        | 173/900 [08:29<17:17,  1.43s/it]
 19%|█▉        | 174/900 [08:29<13:19,  1.10s/it]
 19%|█▉        | 175/900 [08:29<10:33,  1.14it/s]
 20%|█▉        | 176/900 [08:30<08:36,  1.40it/s]
 20%|█▉        | 177/900 [08:43<54:42,  4.54s/it]
 20%|█▉        | 178/900 [08:43<39:28,  3.28s/it]
 20%|█▉        | 179/900 [08:44<28:52,  2.40s/it]
 20%|██        | 180/900 [08:44<21:24,  1.78s/it]
 20%|██        | 181/900 [08:44<16:11,  1.35s/it]
 20%|██        | 182/900 [08:45<12:31,  1.05s/it]
 20%|██        | 183/900 [08:45<09:57,  1.20it/s]
 20%|██        | 184/900 [08:46<08:10,  1.46it/s]
 21%|██        | 185/900 [09:14<1:48:53,  9.14s/it]
 21%|██        | 186/900 [09:15<1:17:19,  6.50s/it]
 21%|██        | 187/900 [09:15<55:13,  4.65s/it]  
 21%|██        | 188/900 [09:15<39:49,  3.36s/it]
 21%|██        | 189/900 [09:16<29:03,  2.45s/it]
 21%|██        | 190/900 [09:16<21:30,  1.82s/it]
 21%|██        | 191/900 [09:16<16:14,  1.37s/it]
 21%|██▏       | 192/900 [09:17<12:33,  1.06s/it]
 21%|██▏       | 193/900 [09:58<2:34:46, 13.14s/it]
 22%|██▏       | 194/900 [09:58<1:49:27,  9.30s/it]
 22%|██▏       | 195/900 [09:59<1:17:43,  6.62s/it]
 22%|██▏       | 196/900 [09:59<55:31,  4.73s/it]  
 22%|██▏       | 197/900 [09:59<40:00,  3.41s/it]
 22%|██▏       | 198/900 [10:00<29:07,  2.49s/it]
 22%|██▏       | 199/900 [10:00<21:34,  1.85s/it]
 22%|██▏       | 200/900 [10:00<16:14,  1.39s/it]
 22%|██▏       | 201/900 [10:56<3:26:03, 17.69s/it]
 22%|██▏       | 202/900 [10:56<2:25:15, 12.49s/it]
 23%|██▎       | 203/900 [10:57<1:42:44,  8.84s/it]
 23%|██▎       | 204/900 [10:57<1:13:00,  6.29s/it]
 23%|██▎       | 205/900 [10:58<52:12,  4.51s/it]  
 23%|██▎       | 206/900 [10:58<37:41,  3.26s/it]
 23%|██▎       | 207/900 [10:58<27:32,  2.38s/it]
 23%|██▎       | 208/900 [10:59<20:26,  1.77s/it]
 23%|██▎       | 209/900 [11:17<1:17:40,  6.74s/it]
 23%|██▎       | 210/900 [11:17<55:25,  4.82s/it]  
 23%|██▎       | 211/900 [11:18<39:52,  3.47s/it]
 24%|██▎       | 212/900 [11:18<28:58,  2.53s/it]
 24%|██▎       | 213/900 [11:18<21:22,  1.87s/it]
 24%|██▍       | 214/900 [11:19<16:03,  1.41s/it]
 24%|██▍       | 215/900 [11:19<12:21,  1.08s/it]
 24%|██▍       | 216/900 [11:19<09:44,  1.17it/s]
 24%|██▍       | 217/900 [12:40<4:42:10, 24.79s/it]
 24%|██▍       | 218/900 [12:40<3:18:21, 17.45s/it]
 24%|██▍       | 219/900 [12:40<2:19:44, 12.31s/it]
 24%|██▍       | 220/900 [12:41<1:38:44,  8.71s/it]
 25%|██▍       | 221/900 [12:41<1:10:05,  6.19s/it]
 25%|██▍       | 222/900 [12:41<50:04,  4.43s/it]  
 25%|██▍       | 223/900 [12:42<36:04,  3.20s/it]
 25%|██▍       | 224/900 [12:42<26:16,  2.33s/it]
 25%|██▌       | 225/900 [13:03<1:27:39,  7.79s/it]
 25%|██▌       | 226/900 [13:03<1:02:19,  5.55s/it]
 25%|██▌       | 227/900 [13:03<44:34,  3.97s/it]  
 25%|██▌       | 228/900 [13:04<32:11,  2.87s/it]
 25%|██▌       | 229/900 [13:04<23:35,  2.11s/it]
 26%|██▌       | 230/900 [13:04<17:32,  1.57s/it]
 26%|██▌       | 231/900 [13:04<13:19,  1.19s/it]
 26%|██▌       | 232/900 [13:05<10:21,  1.08it/s]
 26%|██▌       | 233/900 [13:41<2:06:53, 11.41s/it]
 26%|██▌       | 234/900 [13:41<1:29:43,  8.08s/it]
 26%|██▌       | 235/900 [13:41<1:03:43,  5.75s/it]
 26%|██▌       | 236/900 [13:42<45:33,  4.12s/it]  
 26%|██▋       | 237/900 [13:42<32:52,  2.97s/it]
 26%|██▋       | 238/900 [13:42<23:59,  2.17s/it]
 27%|██▋       | 239/900 [13:43<17:48,  1.62s/it]
 27%|██▋       | 240/900 [13:43<13:28,  1.22s/it]
 27%|██▋       | 241/900 [14:35<3:01:54, 16.56s/it]
 27%|██▋       | 242/900 [14:35<2:08:09, 11.69s/it]
 27%|██▋       | 243/900 [14:36<1:30:36,  8.27s/it]
 27%|██▋       | 244/900 [14:36<1:04:21,  5.89s/it]
 27%|██▋       | 245/900 [14:36<46:00,  4.21s/it]  
 27%|██▋       | 246/900 [14:37<33:10,  3.04s/it]
 27%|██▋       | 247/900 [14:37<24:15,  2.23s/it]
 28%|██▊       | 248/900 [14:37<17:58,  1.65s/it]
 28%|██▊       | 249/900 [15:00<1:24:39,  7.80s/it]
 28%|██▊       | 250/900 [15:00<1:00:16,  5.56s/it]
 28%|██▊       | 251/900 [15:00<43:11,  3.99s/it]  
 28%|██▊       | 252/900 [15:01<31:16,  2.90s/it]
 28%|██▊       | 253/900 [15:01<22:56,  2.13s/it]
 28%|██▊       | 254/900 [15:01<17:06,  1.59s/it]
 28%|██▊       | 255/900 [15:02<13:00,  1.21s/it]
 28%|██▊       | 256/900 [15:02<10:10,  1.05it/s]
 29%|██▊       | 257/900 [15:26<1:24:25,  7.88s/it]
 29%|██▊       | 258/900 [15:26<1:00:07,  5.62s/it]
 29%|██▉       | 259/900 [15:27<43:06,  4.03s/it]  
 29%|██▉       | 260/900 [15:27<31:13,  2.93s/it]
 29%|██▉       | 261/900 [15:27<22:54,  2.15s/it]
 29%|██▉       | 262/900 [15:28<17:01,  1.60s/it]
 29%|██▉       | 263/900 [15:28<12:54,  1.22s/it]
 29%|██▉       | 264/900 [15:28<10:00,  1.06it/s]
 29%|██▉       | 265/900 [16:17<2:40:58, 15.21s/it]
 30%|██▉       | 266/900 [16:17<1:53:33, 10.75s/it]
 30%|██▉       | 267/900 [16:17<1:20:22,  7.62s/it]
 30%|██▉       | 268/900 [16:18<57:09,  5.43s/it]  
 30%|██▉       | 269/900 [16:18<40:55,  3.89s/it]
 30%|███       | 270/900 [16:18<29:34,  2.82s/it]
 30%|███       | 271/900 [16:19<21:43,  2.07s/it]
 30%|███       | 272/900 [16:19<16:14,  1.55s/it]
 30%|███       | 273/900 [17:27<3:46:12, 21.65s/it]
 30%|███       | 274/900 [17:28<2:39:11, 15.26s/it]
 31%|███       | 275/900 [17:28<1:52:19, 10.78s/it]
 31%|███       | 276/900 [17:29<1:19:32,  7.65s/it]
 31%|███       | 277/900 [17:29<56:39,  5.46s/it]  
 31%|███       | 278/900 [17:29<40:38,  3.92s/it]
 31%|███       | 279/900 [17:30<29:28,  2.85s/it]
 31%|███       | 280/900 [17:30<21:39,  2.10s/it]
 31%|███       | 281/900 [18:08<2:14:09, 13.00s/it]
 31%|███▏      | 282/900 [18:09<1:34:44,  9.20s/it]
 31%|███▏      | 283/900 [18:09<1:07:09,  6.53s/it]
 32%|███▏      | 284/900 [18:09<47:51,  4.66s/it]  
 32%|███▏      | 285/900 [18:10<34:23,  3.36s/it]
 32%|███▏      | 286/900 [18:10<24:58,  2.44s/it]
 32%|███▏      | 287/900 [18:10<18:23,  1.80s/it]
 32%|███▏      | 288/900 [18:10<13:47,  1.35s/it]
 32%|███▏      | 289/900 [18:30<1:09:38,  6.84s/it]
 32%|███▏      | 290/900 [18:30<49:35,  4.88s/it]  
 32%|███▏      | 291/900 [18:31<35:35,  3.51s/it]
 32%|███▏      | 292/900 [18:31<25:48,  2.55s/it]
 33%|███▎      | 293/900 [18:31<18:58,  1.88s/it]
 33%|███▎      | 294/900 [18:32<14:12,  1.41s/it]
 33%|███▎      | 295/900 [18:32<10:53,  1.08s/it]
 33%|███▎      | 296/900 [18:32<08:32,  1.18it/s]
 33%|███▎      | 297/900 [18:57<1:18:58,  7.86s/it]
 33%|███▎      | 298/900 [18:57<56:09,  5.60s/it]  
 33%|███▎      | 299/900 [18:57<40:11,  4.01s/it]
 33%|███▎      | 300/900 [18:57<29:00,  2.90s/it]
 33%|███▎      | 301/900 [18:58<21:11,  2.12s/it]
 34%|███▎      | 302/900 [18:58<15:43,  1.58s/it]
 34%|███▎      | 303/900 [18:58<11:55,  1.20s/it]
 34%|███▍      | 304/900 [18:59<09:16,  1.07it/s]
 34%|███▍      | 305/900 [19:21<1:13:57,  7.46s/it]
 34%|███▍      | 306/900 [19:22<52:35,  5.31s/it]  
 34%|███▍      | 307/900 [19:22<37:44,  3.82s/it]
 34%|███▍      | 308/900 [19:22<27:17,  2.77s/it]
 34%|███▍      | 309/900 [19:23<20:02,  2.03s/it]
 34%|███▍      | 310/900 [19:23<14:54,  1.52s/it]
 35%|███▍      | 311/900 [19:23<11:18,  1.15s/it]
 35%|███▍      | 312/900 [19:24<08:48,  1.11it/s]
 35%|███▍      | 313/900 [20:59<4:46:50, 29.32s/it]
 35%|███▍      | 314/900 [21:00<3:21:21, 20.62s/it]
 35%|███▌      | 315/900 [21:00<2:21:38, 14.53s/it]
 35%|███▌      | 316/900 [21:00<1:39:52, 10.26s/it]
 35%|███▌      | 317/900 [21:00<1:10:40,  7.27s/it]
 35%|███▌      | 318/900 [21:01<50:16,  5.18s/it]  
 35%|███▌      | 319/900 [21:01<36:00,  3.72s/it]
 36%|███▌      | 320/900 [21:01<26:02,  2.69s/it]
 36%|███▌      | 321/900 [21:21<1:15:36,  7.84s/it]
 36%|███▌      | 322/900 [21:21<53:43,  5.58s/it]  
 36%|███▌      | 323/900 [21:22<38:28,  4.00s/it]
 36%|███▌      | 324/900 [21:22<27:49,  2.90s/it]
 36%|███▌      | 325/900 [21:22<20:23,  2.13s/it]
 36%|███▌      | 326/900 [21:23<15:10,  1.59s/it]
 36%|███▋      | 327/900 [21:23<11:32,  1.21s/it]
 36%|███▋      | 328/900 [21:23<08:59,  1.06it/s]
 37%|███▋      | 329/900 [21:46<1:09:57,  7.35s/it]
 37%|███▋      | 330/900 [21:46<49:49,  5.24s/it]  
 37%|███▋      | 331/900 [21:46<35:44,  3.77s/it]
 37%|███▋      | 332/900 [21:47<25:54,  2.74s/it]
 37%|███▋      | 333/900 [21:47<19:02,  2.01s/it]
 37%|███▋      | 334/900 [21:47<14:13,  1.51s/it]
 37%|███▋      | 335/900 [21:48<10:50,  1.15s/it]
 37%|███▋      | 336/900 [21:48<08:28,  1.11it/s]
 37%|███▋      | 337/900 [22:08<1:01:53,  6.60s/it]
 38%|███▊      | 338/900 [22:08<44:09,  4.71s/it]  
 38%|███▊      | 339/900 [22:09<31:46,  3.40s/it]
 38%|███▊      | 340/900 [22:09<23:06,  2.48s/it]
 38%|███▊      | 341/900 [22:09<17:03,  1.83s/it]
 38%|███▊      | 342/900 [22:10<12:50,  1.38s/it]
 38%|███▊      | 343/900 [22:10<09:54,  1.07s/it]
 38%|███▊      | 344/900 [22:10<07:50,  1.18it/s]
 38%|███▊      | 345/900 [23:43<4:22:32, 28.38s/it]
 38%|███▊      | 346/900 [23:43<3:04:19, 19.96s/it]
 39%|███▊      | 347/900 [23:43<2:09:39, 14.07s/it]
 39%|███▊      | 348/900 [23:44<1:31:25,  9.94s/it]
 39%|███▉      | 349/900 [23:44<1:04:43,  7.05s/it]
 39%|███▉      | 350/900 [23:44<46:02,  5.02s/it]  
 39%|███▉      | 351/900 [23:45<33:00,  3.61s/it]
 39%|███▉      | 352/900 [23:45<23:53,  2.62s/it]
 39%|███▉      | 353/900 [24:33<2:28:40, 16.31s/it]
 39%|███▉      | 354/900 [24:34<1:44:44, 11.51s/it]
 39%|███▉      | 355/900 [24:34<1:14:00,  8.15s/it]
 40%|███▉      | 356/900 [24:34<52:34,  5.80s/it]  
 40%|███▉      | 357/900 [24:34<37:36,  4.16s/it]
 40%|███▉      | 358/900 [24:35<27:08,  3.01s/it]
 40%|███▉      | 359/900 [24:35<19:50,  2.20s/it]
 40%|████      | 360/900 [24:35<14:45,  1.64s/it]
 40%|████      | 361/900 [25:10<1:43:59, 11.58s/it]
 40%|████      | 362/900 [25:11<1:13:33,  8.20s/it]
 40%|████      | 363/900 [25:11<52:15,  5.84s/it]  
 40%|████      | 364/900 [25:11<37:23,  4.19s/it]
 41%|████      | 365/900 [25:12<27:01,  3.03s/it]
 41%|████      | 366/900 [25:12<19:47,  2.22s/it]
 41%|████      | 367/900 [25:12<14:40,  1.65s/it]
 41%|████      | 368/900 [25:13<11:07,  1.25s/it]
 41%|████      | 369/900 [25:35<1:06:06,  7.47s/it]
 41%|████      | 370/900 [25:35<47:04,  5.33s/it]  
 41%|████      | 371/900 [25:35<33:47,  3.83s/it]
 41%|████▏     | 372/900 [25:36<24:30,  2.78s/it]
 41%|████▏     | 373/900 [25:36<18:00,  2.05s/it]
 42%|████▏     | 374/900 [25:36<13:28,  1.54s/it]
 42%|████▏     | 375/900 [25:37<10:17,  1.18s/it]
 42%|████▏     | 376/900 [25:37<08:03,  1.08it/s]
 42%|████▏     | 377/900 [26:19<1:55:32, 13.25s/it]
 42%|████▏     | 378/900 [26:19<1:21:31,  9.37s/it]
 42%|████▏     | 379/900 [26:20<57:44,  6.65s/it]  
 42%|████▏     | 380/900 [26:20<41:07,  4.74s/it]
 42%|████▏     | 381/900 [26:20<29:30,  3.41s/it]
 42%|████▏     | 382/900 [26:20<21:23,  2.48s/it]
 43%|████▎     | 383/900 [26:21<15:43,  1.83s/it]
 43%|████▎     | 384/900 [26:21<11:45,  1.37s/it]
 43%|████▎     | 385/900 [26:44<1:07:14,  7.83s/it]
 43%|████▎     | 386/900 [26:44<47:45,  5.58s/it]  
 43%|████▎     | 387/900 [26:45<34:08,  3.99s/it]
 43%|████▎     | 388/900 [26:45<24:36,  2.88s/it]
 43%|████▎     | 389/900 [26:45<17:57,  2.11s/it]
 43%|████▎     | 390/900 [26:45<13:21,  1.57s/it]
 43%|████▎     | 391/900 [26:46<10:08,  1.19s/it]
 44%|████▎     | 392/900 [26:46<07:55,  1.07it/s]
 44%|████▎     | 393/900 [27:22<1:36:48, 11.46s/it]
 44%|████▍     | 394/900 [27:22<1:08:28,  8.12s/it]
 44%|████▍     | 395/900 [27:23<48:39,  5.78s/it]  
 44%|████▍     | 396/900 [27:23<34:48,  4.14s/it]
 44%|████▍     | 397/900 [27:23<25:07,  3.00s/it]
 44%|████▍     | 398/900 [27:24<18:21,  2.19s/it]
 44%|████▍     | 399/900 [27:24<13:37,  1.63s/it]
 44%|████▍     | 400/900 [27:24<10:20,  1.24s/it]
 45%|████▍     | 401/900 [28:13<2:09:01, 15.52s/it]
 45%|████▍     | 402/900 [28:14<1:30:54, 10.95s/it]
 45%|████▍     | 403/900 [28:14<1:04:16,  7.76s/it]
 45%|████▍     | 404/900 [28:14<45:40,  5.52s/it]  
 45%|████▌     | 405/900 [28:14<32:42,  3.97s/it]
 45%|████▌     | 406/900 [28:15<23:39,  2.87s/it]
 45%|████▌     | 407/900 [28:15<17:19,  2.11s/it]
 45%|████▌     | 408/900 [28:15<12:53,  1.57s/it]
 45%|████▌     | 409/900 [28:51<1:35:50, 11.71s/it]
 46%|████▌     | 410/900 [28:51<1:07:41,  8.29s/it]
 46%|████▌     | 411/900 [28:51<48:01,  5.89s/it]  
 46%|████▌     | 411/900 [28:52<34:21,  4.21s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json.
+ReorientRedMugTask_0 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 412, duration: 27.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.551161200457816, 'joint_sparc_mean': -11.340993507771802, 'ee_isj': 1560.146290538817, 'joint_isj': 115826.08760247851, 'ee_path_length': 3.0078821265502382, 'joint_rmse_mean': 0.8937244767513713, 'ee_speed_max': 0.3969588875770569, 'ee_speed_mean': 0.09853081405162811}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 5, 'OBJECT_BUMPED': 4, 'WRONG_OBJECT_GRABBED': 3, 'wrong_objects_grabbed': ['red_mug', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 1608.767, 'policy_inference_avg_ms': 3904.8, 'env_step_s': 119.672, 'env_step_avg_ms': 290.5, 'video_write_s': 3.585, 'video_write_avg_ms': 8.7, 'wall_total_s': 1732.024, 'it_per_sec': 0.24}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: ac2fcadae7f84203b46d5e7e7406f38a-0
+[RoboLab] Running ReorientRedMugTask_1: 'Put the red mug upright so that the opening is facing upwards.' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:08<17:01:21, 68.17s/it]
  0%|          | 2/900 [01:08<7:02:48, 28.25s/it] 
  0%|          | 3/900 [01:08<3:51:34, 15.49s/it]
  0%|          | 4/900 [01:09<2:21:46,  9.49s/it]
  1%|          | 5/900 [01:09<1:32:10,  6.18s/it]
  1%|          | 6/900 [01:09<1:02:18,  4.18s/it]
  1%|          | 7/900 [01:09<43:22,  2.91s/it]  
  1%|          | 8/900 [01:10<30:58,  2.08s/it]
  1%|          | 9/900 [01:28<1:44:54,  7.06s/it]
  1%|          | 10/900 [01:28<1:13:50,  4.98s/it]
  1%|          | 11/900 [01:28<52:33,  3.55s/it]  
  1%|▏         | 12/900 [01:29<37:52,  2.56s/it]
  1%|▏         | 13/900 [01:29<27:42,  1.87s/it]
  2%|▏         | 14/900 [01:29<20:40,  1.40s/it]
  2%|▏         | 15/900 [01:30<15:46,  1.07s/it]
  2%|▏         | 16/900 [01:30<12:20,  1.19it/s]
  2%|▏         | 17/900 [02:13<3:20:56, 13.65s/it]
  2%|▏         | 18/900 [02:14<2:21:46,  9.64s/it]
  2%|▏         | 19/900 [02:14<1:40:23,  6.84s/it]
  2%|▏         | 20/900 [02:14<1:11:30,  4.88s/it]
  2%|▏         | 21/900 [02:15<51:18,  3.50s/it]  
  2%|▏         | 22/900 [02:15<37:11,  2.54s/it]
  3%|▎         | 23/900 [02:15<27:23,  1.87s/it]
  3%|▎         | 24/900 [02:16<20:34,  1.41s/it]
  3%|▎         | 25/900 [02:28<1:10:07,  4.81s/it]
  3%|▎         | 26/900 [02:29<50:25,  3.46s/it]  
  3%|▎         | 27/900 [02:29<36:40,  2.52s/it]
  3%|▎         | 28/900 [02:29<27:04,  1.86s/it]
  3%|▎         | 29/900 [02:30<20:18,  1.40s/it]
  3%|▎         | 30/900 [02:30<15:47,  1.09s/it]
  3%|▎         | 31/900 [02:30<12:26,  1.16it/s]
  4%|▎         | 32/900 [02:31<10:08,  1.43it/s]
  4%|▎         | 33/900 [03:01<2:17:52,  9.54s/it]
  4%|▍         | 34/900 [03:01<1:37:48,  6.78s/it]
  4%|▍         | 35/900 [03:01<1:09:41,  4.83s/it]
  4%|▍         | 36/900 [03:02<50:02,  3.47s/it]  
  4%|▍         | 37/900 [03:02<36:17,  2.52s/it]
  4%|▍         | 38/900 [03:02<26:39,  1.86s/it]
  4%|▍         | 39/900 [03:03<19:54,  1.39s/it]
  4%|▍         | 40/900 [03:03<15:12,  1.06s/it]
  5%|▍         | 41/900 [03:20<1:22:28,  5.76s/it]
  5%|▍         | 42/900 [03:20<58:57,  4.12s/it]  
  5%|▍         | 43/900 [03:20<42:30,  2.98s/it]
  5%|▍         | 44/900 [03:21<30:59,  2.17s/it]
  5%|▌         | 45/900 [03:21<22:56,  1.61s/it]
  5%|▌         | 46/900 [03:21<17:19,  1.22s/it]
  5%|▌         | 47/900 [03:21<13:22,  1.06it/s]
  5%|▌         | 48/900 [03:22<10:37,  1.34it/s]
  5%|▌         | 49/900 [03:34<58:04,  4.10s/it]
  6%|▌         | 50/900 [03:34<41:54,  2.96s/it]
  6%|▌         | 51/900 [03:34<30:38,  2.17s/it]
  6%|▌         | 52/900 [03:35<22:41,  1.61s/it]
  6%|▌         | 53/900 [03:35<17:08,  1.21s/it]
  6%|▌         | 54/900 [03:35<13:15,  1.06it/s]
  6%|▌         | 55/900 [03:35<10:38,  1.32it/s]
  6%|▌         | 56/900 [03:36<08:48,  1.60it/s]
  6%|▋         | 57/900 [03:53<1:17:01,  5.48s/it]
  6%|▋         | 58/900 [03:53<55:13,  3.94s/it]  
  7%|▋         | 59/900 [03:53<40:03,  2.86s/it]
  7%|▋         | 60/900 [03:54<29:23,  2.10s/it]
  7%|▋         | 61/900 [03:54<21:56,  1.57s/it]
  7%|▋         | 62/900 [03:54<16:43,  1.20s/it]
  7%|▋         | 63/900 [03:55<13:04,  1.07it/s]
  7%|▋         | 64/900 [03:55<10:30,  1.33it/s]
  7%|▋         | 65/900 [04:10<1:10:43,  5.08s/it]
  7%|▋         | 66/900 [04:10<50:49,  3.66s/it]  
  7%|▋         | 67/900 [04:11<36:55,  2.66s/it]
  8%|▊         | 68/900 [04:11<27:12,  1.96s/it]
  8%|▊         | 69/900 [04:11<20:25,  1.48s/it]
  8%|▊         | 70/900 [04:12<15:42,  1.14s/it]
  8%|▊         | 71/900 [04:12<12:21,  1.12it/s]
  8%|▊         | 72/900 [04:12<10:02,  1.37it/s]
  8%|▊         | 73/900 [04:28<1:12:32,  5.26s/it]
  8%|▊         | 74/900 [04:29<52:04,  3.78s/it]  
  8%|▊         | 75/900 [04:29<37:45,  2.75s/it]
  8%|▊         | 76/900 [04:29<27:43,  2.02s/it]
  9%|▊         | 77/900 [04:30<20:46,  1.51s/it]
  9%|▊         | 78/900 [04:30<15:52,  1.16s/it]
  9%|▉         | 79/900 [04:30<12:25,  1.10it/s]
  9%|▉         | 80/900 [04:31<09:59,  1.37it/s]
  9%|▉         | 81/900 [05:09<2:42:28, 11.90s/it]
  9%|▉         | 82/900 [05:09<1:54:54,  8.43s/it]
  9%|▉         | 83/900 [05:09<1:21:41,  6.00s/it]
  9%|▉         | 84/900 [05:10<58:28,  4.30s/it]  
  9%|▉         | 85/900 [05:10<42:14,  3.11s/it]
 10%|▉         | 86/900 [05:10<30:52,  2.28s/it]
 10%|▉         | 87/900 [05:11<22:56,  1.69s/it]
 10%|▉         | 88/900 [05:11<17:22,  1.28s/it]
 10%|▉         | 89/900 [05:34<1:46:47,  7.90s/it]
 10%|█         | 90/900 [05:35<1:16:02,  5.63s/it]
 10%|█         | 91/900 [05:35<54:29,  4.04s/it]  
 10%|█         | 92/900 [05:35<39:25,  2.93s/it]
 10%|█         | 93/900 [05:36<28:55,  2.15s/it]
 10%|█         | 94/900 [05:36<21:34,  1.61s/it]
 11%|█         | 95/900 [05:36<16:24,  1.22s/it]
 11%|█         | 96/900 [05:37<12:47,  1.05it/s]
 11%|█         | 97/900 [06:08<2:13:37,  9.98s/it]
 11%|█         | 98/900 [06:08<1:34:48,  7.09s/it]
 11%|█         | 99/900 [06:08<1:07:40,  5.07s/it]
 11%|█         | 100/900 [06:09<48:38,  3.65s/it] 
 11%|█         | 101/900 [06:09<35:22,  2.66s/it]
 11%|█▏        | 102/900 [06:09<26:07,  1.96s/it]
 11%|█▏        | 103/900 [06:10<19:42,  1.48s/it]
 12%|█▏        | 104/900 [06:10<15:13,  1.15s/it]
 12%|█▏        | 105/900 [06:31<1:34:39,  7.14s/it]
 12%|█▏        | 106/900 [06:32<1:07:34,  5.11s/it]
 12%|█▏        | 107/900 [06:32<48:37,  3.68s/it]  
 12%|█▏        | 108/900 [06:32<35:21,  2.68s/it]
 12%|█▏        | 109/900 [06:33<26:06,  1.98s/it]
 12%|█▏        | 110/900 [06:33<19:46,  1.50s/it]
 12%|█▏        | 111/900 [06:33<15:13,  1.16s/it]
 12%|█▏        | 112/900 [06:34<12:02,  1.09it/s]
 13%|█▎        | 113/900 [07:10<2:29:31, 11.40s/it]
 13%|█▎        | 114/900 [07:10<1:45:55,  8.09s/it]
 13%|█▎        | 115/900 [07:10<1:15:25,  5.77s/it]
 13%|█▎        | 116/900 [07:11<54:05,  4.14s/it]  
 13%|█▎        | 117/900 [07:11<39:12,  3.00s/it]
 13%|█▎        | 118/900 [07:11<28:47,  2.21s/it]
 13%|█▎        | 119/900 [07:12<21:29,  1.65s/it]
 13%|█▎        | 120/900 [07:12<16:24,  1.26s/it]
 13%|█▎        | 121/900 [08:16<4:20:47, 20.09s/it]
 14%|█▎        | 122/900 [08:16<3:03:41, 14.17s/it]
 14%|█▎        | 123/900 [08:17<2:09:46, 10.02s/it]
 14%|█▍        | 124/900 [08:17<1:32:05,  7.12s/it]
 14%|█▍        | 125/900 [08:17<1:05:42,  5.09s/it]
 14%|█▍        | 126/900 [08:18<47:12,  3.66s/it]  
 14%|█▍        | 127/900 [08:18<34:11,  2.65s/it]
 14%|█▍        | 128/900 [08:18<25:03,  1.95s/it]
 14%|█▍        | 129/900 [08:34<1:18:24,  6.10s/it]
 14%|█▍        | 130/900 [08:34<55:59,  4.36s/it]  
 15%|█▍        | 131/900 [08:35<40:19,  3.15s/it]
 15%|█▍        | 132/900 [08:35<29:24,  2.30s/it]
 15%|█▍        | 132/900 [08:35<50:01,  3.91s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json.
+ReorientRedMugTask_1 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 133, duration: 8.866666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.945929378049129, 'joint_sparc_mean': -5.339968104058319, 'ee_isj': 1363.1717090874556, 'joint_isj': 40933.5364471304, 'ee_path_length': 1.131005560324642, 'joint_rmse_mean': 0.8581386187887498, 'ee_speed_max': 0.4565427601337433, 'ee_speed_mean': 0.14155633747577667}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 1, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 475.583, 'policy_inference_avg_ms': 3575.8, 'env_step_s': 38.889, 'env_step_avg_ms': 292.4, 'video_write_s': 1.389, 'video_write_avg_ms': 10.4, 'wall_total_s': 515.861, 'it_per_sec': 0.26}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 9576db038d694217bd9971ef4b80d2bf-1
+[RoboLab] Running ReorientRedMugTask_2: 'Put the red mug upright so that the opening is facing upwards.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:11<17:47:45, 71.26s/it]
  0%|          | 2/900 [01:11<7:21:53, 29.52s/it] 
  0%|          | 3/900 [01:11<4:01:54, 16.18s/it]
  0%|          | 4/900 [01:12<2:28:00,  9.91s/it]
  1%|          | 5/900 [01:12<1:36:07,  6.44s/it]
  1%|          | 6/900 [01:12<1:04:52,  4.35s/it]
  1%|          | 7/900 [01:13<45:04,  3.03s/it]  
  1%|          | 8/900 [01:13<32:06,  2.16s/it]
  1%|          | 9/900 [01:38<2:18:38,  9.34s/it]
  1%|          | 10/900 [01:38<1:37:05,  6.55s/it]
  1%|          | 11/900 [01:39<1:08:39,  4.63s/it]
  1%|▏         | 12/900 [01:39<49:06,  3.32s/it]  
  1%|▏         | 13/900 [01:39<35:35,  2.41s/it]
  2%|▏         | 14/900 [01:40<26:10,  1.77s/it]
  2%|▏         | 15/900 [01:40<19:36,  1.33s/it]
  2%|▏         | 16/900 [01:40<15:02,  1.02s/it]
  2%|▏         | 17/900 [01:56<1:20:26,  5.47s/it]
  2%|▏         | 18/900 [01:56<57:32,  3.91s/it]  
  2%|▏         | 19/900 [01:57<41:31,  2.83s/it]
  2%|▏         | 20/900 [01:57<30:21,  2.07s/it]
  2%|▏         | 21/900 [01:57<22:32,  1.54s/it]
  2%|▏         | 22/900 [01:57<17:04,  1.17s/it]
  3%|▎         | 23/900 [01:58<13:15,  1.10it/s]
  3%|▎         | 24/900 [01:58<10:34,  1.38it/s]
  3%|▎         | 25/900 [02:12<1:08:28,  4.69s/it]
  3%|▎         | 26/900 [02:12<49:10,  3.38s/it]  
  3%|▎         | 27/900 [02:13<35:42,  2.45s/it]
  3%|▎         | 28/900 [02:13<26:17,  1.81s/it]
  3%|▎         | 29/900 [02:13<19:41,  1.36s/it]
  3%|▎         | 30/900 [02:13<15:04,  1.04s/it]
  3%|▎         | 31/900 [02:14<11:54,  1.22it/s]
  4%|▎         | 32/900 [02:14<09:37,  1.50it/s]
  4%|▎         | 33/900 [02:28<1:07:22,  4.66s/it]
  4%|▍         | 34/900 [02:28<48:27,  3.36s/it]  
  4%|▍         | 35/900 [02:29<35:10,  2.44s/it]
  4%|▍         | 36/900 [02:29<25:55,  1.80s/it]
  4%|▍         | 37/900 [02:29<19:24,  1.35s/it]
  4%|▍         | 38/900 [02:30<14:57,  1.04s/it]
  4%|▍         | 39/900 [02:30<11:50,  1.21it/s]
  4%|▍         | 40/900 [02:30<09:39,  1.48it/s]
  5%|▍         | 41/900 [02:52<1:40:07,  6.99s/it]
  5%|▍         | 42/900 [02:52<1:11:23,  4.99s/it]
  5%|▍         | 43/900 [02:53<51:17,  3.59s/it]  
  5%|▍         | 44/900 [02:53<37:14,  2.61s/it]
  5%|▌         | 45/900 [02:53<27:23,  1.92s/it]
  5%|▌         | 46/900 [02:54<20:29,  1.44s/it]
  5%|▌         | 47/900 [02:54<15:40,  1.10s/it]
  5%|▌         | 48/900 [02:54<12:21,  1.15it/s]
  5%|▌         | 49/900 [03:07<1:02:45,  4.43s/it]
  6%|▌         | 50/900 [03:07<45:16,  3.20s/it]  
  6%|▌         | 51/900 [03:08<33:02,  2.34s/it]
  6%|▌         | 52/900 [03:08<24:28,  1.73s/it]
  6%|▌         | 53/900 [03:08<18:30,  1.31s/it]
  6%|▌         | 54/900 [03:09<14:20,  1.02s/it]
  6%|▌         | 55/900 [03:09<11:26,  1.23it/s]
  6%|▌         | 56/900 [03:09<09:22,  1.50it/s]
  6%|▋         | 57/900 [03:22<59:35,  4.24s/it]
  6%|▋         | 58/900 [03:22<43:03,  3.07s/it]
  7%|▋         | 59/900 [03:23<31:28,  2.25s/it]
  7%|▋         | 60/900 [03:23<23:22,  1.67s/it]
  7%|▋         | 61/900 [03:23<17:43,  1.27s/it]
  7%|▋         | 62/900 [03:23<13:46,  1.01it/s]
  7%|▋         | 63/900 [03:24<11:00,  1.27it/s]
  7%|▋         | 64/900 [03:24<09:03,  1.54it/s]
  7%|▋         | 65/900 [03:46<1:35:50,  6.89s/it]
  7%|▋         | 66/900 [03:46<1:08:24,  4.92s/it]
  7%|▋         | 67/900 [03:46<49:11,  3.54s/it]  
  8%|▊         | 68/900 [03:47<35:44,  2.58s/it]
  8%|▊         | 69/900 [03:47<26:21,  1.90s/it]
  8%|▊         | 70/900 [03:47<19:46,  1.43s/it]
  8%|▊         | 71/900 [03:48<15:10,  1.10s/it]
  8%|▊         | 72/900 [03:48<11:58,  1.15it/s]
  8%|▊         | 73/900 [04:14<1:56:06,  8.42s/it]
  8%|▊         | 74/900 [04:14<1:22:33,  6.00s/it]
  8%|▊         | 75/900 [04:15<59:07,  4.30s/it]  
  8%|▊         | 76/900 [04:15<42:47,  3.12s/it]
  9%|▊         | 77/900 [04:15<31:24,  2.29s/it]
  9%|▊         | 78/900 [04:16<23:25,  1.71s/it]
  9%|▉         | 79/900 [04:16<17:52,  1.31s/it]
  9%|▉         | 80/900 [04:16<13:53,  1.02s/it]
  9%|▉         | 81/900 [04:38<1:37:03,  7.11s/it]
  9%|▉         | 82/900 [04:38<1:09:18,  5.08s/it]
  9%|▉         | 83/900 [04:38<49:52,  3.66s/it]  
  9%|▉         | 84/900 [04:39<36:22,  2.67s/it]
  9%|▉         | 85/900 [04:39<26:55,  1.98s/it]
 10%|▉         | 86/900 [04:40<20:15,  1.49s/it]
 10%|▉         | 87/900 [04:40<15:34,  1.15s/it]
 10%|▉         | 88/900 [04:40<12:16,  1.10it/s]
 10%|▉         | 89/900 [05:00<1:29:53,  6.65s/it]
 10%|█         | 90/900 [05:01<1:04:07,  4.75s/it]
 10%|█         | 91/900 [05:01<46:07,  3.42s/it]  
 10%|█         | 92/900 [05:01<33:29,  2.49s/it]
 10%|█         | 93/900 [05:02<24:42,  1.84s/it]
 10%|█         | 94/900 [05:02<18:32,  1.38s/it]
 11%|█         | 95/900 [05:02<14:14,  1.06s/it]
 11%|█         | 96/900 [05:02<11:10,  1.20it/s]
 11%|█         | 97/900 [05:16<1:00:57,  4.55s/it]
 11%|█         | 98/900 [05:16<43:51,  3.28s/it]  
 11%|█         | 99/900 [05:16<31:50,  2.39s/it]
 11%|█         | 100/900 [05:17<23:28,  1.76s/it]
 11%|█         | 101/900 [05:17<17:36,  1.32s/it]
 11%|█▏        | 102/900 [05:17<13:33,  1.02s/it]
 11%|█▏        | 103/900 [05:18<10:42,  1.24it/s]
 12%|█▏        | 104/900 [05:18<08:42,  1.52it/s]
 12%|█▏        | 105/900 [05:46<1:57:47,  8.89s/it]
 12%|█▏        | 106/900 [05:46<1:23:33,  6.31s/it]
 12%|█▏        | 107/900 [05:47<59:37,  4.51s/it]  
 12%|█▏        | 108/900 [05:47<42:53,  3.25s/it]
 12%|█▏        | 109/900 [05:47<31:13,  2.37s/it]
 12%|█▏        | 110/900 [05:47<23:04,  1.75s/it]
 12%|█▏        | 111/900 [05:48<17:21,  1.32s/it]
 12%|█▏        | 112/900 [05:48<13:20,  1.02s/it]
 13%|█▎        | 113/900 [06:04<1:11:47,  5.47s/it]
 13%|█▎        | 114/900 [06:04<51:22,  3.92s/it]  
 13%|█▎        | 115/900 [06:05<37:06,  2.84s/it]
 13%|█▎        | 116/900 [06:05<27:08,  2.08s/it]
 13%|█▎        | 117/900 [06:05<20:09,  1.54s/it]
 13%|█▎        | 118/900 [06:05<15:17,  1.17s/it]
 13%|█▎        | 119/900 [06:06<11:52,  1.10it/s]
 13%|█▎        | 120/900 [06:06<09:31,  1.36it/s]
 13%|█▎        | 121/900 [06:26<1:25:06,  6.56s/it]
 14%|█▎        | 122/900 [06:27<1:00:42,  4.68s/it]
 14%|█▎        | 123/900 [06:27<43:38,  3.37s/it]  
 14%|█▍        | 124/900 [06:27<31:43,  2.45s/it]
 14%|█▍        | 125/900 [06:27<23:22,  1.81s/it]
 14%|█▍        | 126/900 [06:28<17:32,  1.36s/it]
 14%|█▍        | 127/900 [06:28<13:29,  1.05s/it]
 14%|█▍        | 128/900 [06:28<10:37,  1.21it/s]
 14%|█▍        | 129/900 [07:02<2:15:43, 10.56s/it]
 14%|█▍        | 130/900 [07:02<1:36:03,  7.49s/it]
 15%|█▍        | 131/900 [07:02<1:08:19,  5.33s/it]
 15%|█▍        | 132/900 [07:03<48:56,  3.82s/it]  
 15%|█▍        | 133/900 [07:03<35:24,  2.77s/it]
 15%|█▍        | 134/900 [07:03<26:00,  2.04s/it]
 15%|█▌        | 135/900 [07:04<19:30,  1.53s/it]
 15%|█▌        | 136/900 [07:04<14:55,  1.17s/it]
 15%|█▌        | 137/900 [07:24<1:26:37,  6.81s/it]
 15%|█▌        | 138/900 [07:24<1:01:49,  4.87s/it]
 15%|█▌        | 139/900 [07:25<44:23,  3.50s/it]  
 16%|█▌        | 140/900 [07:25<32:12,  2.54s/it]
 16%|█▌        | 141/900 [07:25<23:40,  1.87s/it]
 16%|█▌        | 142/900 [07:25<17:41,  1.40s/it]
 16%|█▌        | 143/900 [07:26<13:30,  1.07s/it]
 16%|█▌        | 144/900 [07:26<10:35,  1.19it/s]
 16%|█▌        | 145/900 [07:43<1:12:21,  5.75s/it]
 16%|█▌        | 146/900 [07:44<51:44,  4.12s/it]  
 16%|█▋        | 147/900 [07:44<37:19,  2.97s/it]
 16%|█▋        | 148/900 [07:44<27:14,  2.17s/it]
 17%|█▋        | 149/900 [07:44<20:10,  1.61s/it]
 17%|█▋        | 150/900 [07:45<15:14,  1.22s/it]
 17%|█▋        | 151/900 [07:45<11:46,  1.06it/s]
 17%|█▋        | 152/900 [07:45<09:23,  1.33it/s]
 17%|█▋        | 153/900 [08:05<1:17:58,  6.26s/it]
 17%|█▋        | 154/900 [08:05<55:38,  4.48s/it]  
 17%|█▋        | 155/900 [08:05<40:02,  3.22s/it]
 17%|█▋        | 156/900 [08:05<29:07,  2.35s/it]
 17%|█▋        | 157/900 [08:06<21:28,  1.73s/it]
 18%|█▊        | 158/900 [08:06<16:10,  1.31s/it]
 18%|█▊        | 159/900 [08:06<12:25,  1.01s/it]
 18%|█▊        | 160/900 [08:07<09:47,  1.26it/s]
 18%|█▊        | 161/900 [08:25<1:13:31,  5.97s/it]
 18%|█▊        | 162/900 [08:25<52:32,  4.27s/it]  
 18%|█▊        | 163/900 [08:25<37:50,  3.08s/it]
 18%|█▊        | 164/900 [08:26<27:33,  2.25s/it]
 18%|█▊        | 165/900 [08:26<20:24,  1.67s/it]
 18%|█▊        | 166/900 [08:26<15:23,  1.26s/it]
 19%|█▊        | 167/900 [08:27<11:52,  1.03it/s]
 19%|█▊        | 168/900 [08:27<09:28,  1.29it/s]
 19%|█▉        | 169/900 [09:28<3:50:59, 18.96s/it]
 19%|█▉        | 170/900 [09:29<2:42:36, 13.37s/it]
 19%|█▉        | 171/900 [09:29<1:54:46,  9.45s/it]
 19%|█▉        | 172/900 [09:29<1:21:20,  6.70s/it]
 19%|█▉        | 173/900 [09:29<57:57,  4.78s/it]  
 19%|█▉        | 174/900 [09:30<41:36,  3.44s/it]
 19%|█▉        | 175/900 [09:30<30:09,  2.50s/it]
 20%|█▉        | 176/900 [09:30<22:11,  1.84s/it]
 20%|█▉        | 177/900 [10:04<2:18:27, 11.49s/it]
 20%|█▉        | 178/900 [10:05<1:37:53,  8.14s/it]
 20%|█▉        | 179/900 [10:05<1:09:33,  5.79s/it]
 20%|██        | 180/900 [10:05<49:44,  4.14s/it]  
 20%|██        | 181/900 [10:06<35:51,  2.99s/it]
 20%|██        | 182/900 [10:06<26:10,  2.19s/it]
 20%|██        | 183/900 [10:06<19:26,  1.63s/it]
 20%|██        | 184/900 [10:07<14:48,  1.24s/it]
 21%|██        | 185/900 [10:42<2:17:46, 11.56s/it]
 21%|██        | 186/900 [10:43<1:37:22,  8.18s/it]
 21%|██        | 187/900 [10:43<1:09:09,  5.82s/it]
 21%|██        | 188/900 [10:43<49:25,  4.17s/it]  
 21%|██        | 189/900 [10:43<35:38,  3.01s/it]
 21%|██        | 190/900 [10:44<26:01,  2.20s/it]
 21%|██        | 191/900 [10:44<19:15,  1.63s/it]
 21%|██▏       | 192/900 [10:44<14:33,  1.23s/it]
 21%|██▏       | 193/900 [11:30<2:50:46, 14.49s/it]
 22%|██▏       | 194/900 [11:30<2:00:26, 10.24s/it]
 22%|██▏       | 195/900 [11:30<1:25:14,  7.25s/it]
 22%|██▏       | 196/900 [11:31<1:00:38,  5.17s/it]
 22%|██▏       | 197/900 [11:31<43:25,  3.71s/it]  
 22%|██▏       | 198/900 [11:31<31:25,  2.69s/it]
 22%|██▏       | 199/900 [11:32<23:04,  1.97s/it]
 22%|██▏       | 200/900 [11:32<17:14,  1.48s/it]
 22%|██▏       | 201/900 [11:53<1:26:23,  7.42s/it]
 22%|██▏       | 202/900 [11:53<1:01:26,  5.28s/it]
 23%|██▎       | 203/900 [11:54<44:00,  3.79s/it]  
 23%|██▎       | 204/900 [11:54<31:48,  2.74s/it]
 23%|██▎       | 205/900 [11:54<23:17,  2.01s/it]
 23%|██▎       | 206/900 [11:55<17:19,  1.50s/it]
 23%|██▎       | 207/900 [11:55<13:09,  1.14s/it]
 23%|██▎       | 208/900 [11:55<10:15,  1.12it/s]
 23%|██▎       | 209/900 [12:12<1:05:43,  5.71s/it]
 23%|██▎       | 210/900 [12:13<47:00,  4.09s/it]  
 23%|██▎       | 211/900 [12:13<33:56,  2.96s/it]
 24%|██▎       | 212/900 [12:13<24:46,  2.16s/it]
 24%|██▎       | 213/900 [12:13<18:21,  1.60s/it]
 24%|██▍       | 214/900 [12:14<13:54,  1.22s/it]
 24%|██▍       | 215/900 [12:14<10:45,  1.06it/s]
 24%|██▍       | 216/900 [12:14<08:34,  1.33it/s]
 24%|██▍       | 217/900 [13:05<2:57:50, 15.62s/it]
 24%|██▍       | 218/900 [13:05<2:05:24, 11.03s/it]
 24%|██▍       | 219/900 [13:05<1:28:49,  7.83s/it]
 24%|██▍       | 220/900 [13:06<1:03:15,  5.58s/it]
 25%|██▍       | 221/900 [13:06<45:18,  4.00s/it]  
 25%|██▍       | 222/900 [13:06<32:45,  2.90s/it]
 25%|██▍       | 223/900 [13:07<23:57,  2.12s/it]
 25%|██▍       | 224/900 [13:07<17:47,  1.58s/it]
 25%|██▌       | 225/900 [13:34<1:44:52,  9.32s/it]
 25%|██▌       | 226/900 [13:35<1:14:23,  6.62s/it]
 25%|██▌       | 227/900 [13:35<53:02,  4.73s/it]  
 25%|██▌       | 228/900 [13:35<38:06,  3.40s/it]
 25%|██▌       | 229/900 [13:36<27:39,  2.47s/it]
 26%|██▌       | 230/900 [13:36<20:24,  1.83s/it]
 26%|██▌       | 231/900 [13:36<15:17,  1.37s/it]
 26%|██▌       | 232/900 [13:37<11:44,  1.06s/it]
 26%|██▌       | 233/900 [14:09<1:57:56, 10.61s/it]
 26%|██▌       | 234/900 [14:10<1:23:27,  7.52s/it]
 26%|██▌       | 235/900 [14:10<59:21,  5.36s/it]  
 26%|██▌       | 236/900 [14:10<42:30,  3.84s/it]
 26%|██▋       | 237/900 [14:11<30:44,  2.78s/it]
 26%|██▋       | 238/900 [14:11<22:32,  2.04s/it]
 27%|██▋       | 239/900 [14:11<16:46,  1.52s/it]
 27%|██▋       | 240/900 [14:12<12:44,  1.16s/it]
 27%|██▋       | 241/900 [14:52<2:20:46, 12.82s/it]
 27%|██▋       | 242/900 [14:52<1:39:23,  9.06s/it]
 27%|██▋       | 243/900 [14:52<1:10:28,  6.44s/it]
 27%|██▋       | 244/900 [14:53<50:15,  4.60s/it]  
 27%|██▋       | 245/900 [14:53<36:09,  3.31s/it]
 27%|██▋       | 246/900 [14:53<26:16,  2.41s/it]
 27%|██▋       | 247/900 [14:54<19:21,  1.78s/it]
 28%|██▊       | 248/900 [14:54<14:31,  1.34s/it]
 28%|██▊       | 249/900 [15:35<2:25:45, 13.43s/it]
 28%|██▊       | 250/900 [15:36<1:42:51,  9.49s/it]
 28%|██▊       | 251/900 [15:36<1:12:53,  6.74s/it]
 28%|██▊       | 252/900 [15:36<51:54,  4.81s/it]  
 28%|██▊       | 253/900 [15:37<37:16,  3.46s/it]
 28%|██▊       | 254/900 [15:37<27:01,  2.51s/it]
 28%|██▊       | 255/900 [15:37<19:52,  1.85s/it]
 28%|██▊       | 256/900 [15:38<14:51,  1.38s/it]
 29%|██▊       | 257/900 [16:09<1:50:13, 10.28s/it]
 29%|██▊       | 258/900 [16:09<1:18:00,  7.29s/it]
 29%|██▉       | 259/900 [16:09<55:29,  5.19s/it]  
 29%|██▉       | 260/900 [16:10<39:46,  3.73s/it]
 29%|██▉       | 261/900 [16:10<28:45,  2.70s/it]
 29%|██▉       | 262/900 [16:10<21:06,  1.98s/it]
 29%|██▉       | 263/900 [16:11<15:44,  1.48s/it]
 29%|██▉       | 264/900 [16:11<11:58,  1.13s/it]
 29%|██▉       | 265/900 [16:31<1:13:35,  6.95s/it]
 30%|██▉       | 266/900 [16:32<52:26,  4.96s/it]  
 30%|██▉       | 267/900 [16:32<37:38,  3.57s/it]
 30%|██▉       | 268/900 [16:32<27:17,  2.59s/it]
 30%|██▉       | 269/900 [16:33<20:04,  1.91s/it]
 30%|███       | 270/900 [16:33<15:01,  1.43s/it]
 30%|███       | 271/900 [16:33<11:28,  1.09s/it]
 30%|███       | 272/900 [16:34<08:58,  1.17it/s]
 30%|███       | 273/900 [16:55<1:14:22,  7.12s/it]
 30%|███       | 274/900 [16:56<52:56,  5.07s/it]  
 31%|███       | 275/900 [16:56<37:57,  3.64s/it]
 31%|███       | 276/900 [16:56<27:29,  2.64s/it]
 31%|███       | 277/900 [16:57<20:10,  1.94s/it]
 31%|███       | 278/900 [16:57<15:03,  1.45s/it]
 31%|███       | 279/900 [16:57<11:28,  1.11s/it]
 31%|███       | 280/900 [16:57<08:59,  1.15it/s]
 31%|███       | 281/900 [17:17<1:06:09,  6.41s/it]
 31%|███▏      | 282/900 [17:17<47:11,  4.58s/it]  
 31%|███▏      | 283/900 [17:17<33:54,  3.30s/it]
 32%|███▏      | 284/900 [17:18<24:38,  2.40s/it]
 32%|███▏      | 285/900 [17:18<18:09,  1.77s/it]
 32%|███▏      | 286/900 [17:18<13:37,  1.33s/it]
 32%|███▏      | 287/900 [17:19<10:29,  1.03s/it]
 32%|███▏      | 288/900 [17:19<08:22,  1.22it/s]
 32%|███▏      | 289/900 [17:38<1:03:42,  6.26s/it]
 32%|███▏      | 290/900 [17:38<45:27,  4.47s/it]  
 32%|███▏      | 291/900 [17:39<32:41,  3.22s/it]
 32%|███▏      | 292/900 [17:39<23:46,  2.35s/it]
 33%|███▎      | 293/900 [17:39<17:33,  1.74s/it]
 33%|███▎      | 294/900 [17:39<13:11,  1.31s/it]
 33%|███▎      | 295/900 [17:40<10:08,  1.01s/it]
 33%|███▎      | 296/900 [17:40<08:02,  1.25it/s]
 33%|███▎      | 297/900 [17:59<1:02:56,  6.26s/it]
 33%|███▎      | 298/900 [17:59<44:54,  4.48s/it]  
 33%|███▎      | 299/900 [18:00<32:18,  3.22s/it]
 33%|███▎      | 300/900 [18:00<23:28,  2.35s/it]
 33%|███▎      | 301/900 [18:00<17:18,  1.73s/it]
 34%|███▎      | 302/900 [18:01<12:59,  1.30s/it]
 34%|███▎      | 303/900 [18:01<09:58,  1.00s/it]
 34%|███▍      | 304/900 [18:01<07:54,  1.26it/s]
 34%|███▍      | 305/900 [18:35<1:46:21, 10.73s/it]
 34%|███▍      | 306/900 [18:35<1:15:13,  7.60s/it]
 34%|███▍      | 307/900 [18:36<53:28,  5.41s/it]  
 34%|███▍      | 308/900 [18:36<38:15,  3.88s/it]
 34%|███▍      | 309/900 [18:36<27:40,  2.81s/it]
 34%|███▍      | 310/900 [18:37<20:20,  2.07s/it]
 35%|███▍      | 311/900 [18:37<15:10,  1.55s/it]
 35%|███▍      | 312/900 [18:37<11:33,  1.18s/it]
 35%|███▍      | 313/900 [18:59<1:12:14,  7.38s/it]
 35%|███▍      | 314/900 [18:59<51:23,  5.26s/it]  
 35%|███▌      | 315/900 [19:00<36:50,  3.78s/it]
 35%|███▌      | 316/900 [19:00<26:39,  2.74s/it]
 35%|███▌      | 317/900 [19:00<19:31,  2.01s/it]
 35%|███▌      | 318/900 [19:01<14:32,  1.50s/it]
 35%|███▌      | 319/900 [19:01<11:06,  1.15s/it]
 36%|███▌      | 320/900 [19:01<08:41,  1.11it/s]
 36%|███▌      | 321/900 [19:27<1:18:58,  8.18s/it]
 36%|███▌      | 322/900 [19:27<56:05,  5.82s/it]  
 36%|███▌      | 323/900 [19:27<40:04,  4.17s/it]
 36%|███▌      | 324/900 [19:27<28:53,  3.01s/it]
 36%|███▌      | 325/900 [19:28<21:06,  2.20s/it]
 36%|███▌      | 326/900 [19:28<15:41,  1.64s/it]
 36%|███▋      | 327/900 [19:28<11:55,  1.25s/it]
 36%|███▋      | 328/900 [19:29<09:16,  1.03it/s]
 37%|███▋      | 329/900 [19:54<1:17:18,  8.12s/it]
 37%|███▋      | 330/900 [19:54<54:53,  5.78s/it]  
 37%|███▋      | 331/900 [19:54<39:13,  4.14s/it]
 37%|███▋      | 332/900 [19:55<28:16,  2.99s/it]
 37%|███▋      | 333/900 [19:55<20:37,  2.18s/it]
 37%|███▋      | 334/900 [19:55<15:15,  1.62s/it]
 37%|███▋      | 335/900 [19:55<11:30,  1.22s/it]
 37%|███▋      | 336/900 [19:56<08:54,  1.05it/s]
 37%|███▋      | 337/900 [20:36<1:59:38, 12.75s/it]
 38%|███▊      | 338/900 [20:36<1:24:29,  9.02s/it]
 38%|███▊      | 339/900 [20:37<59:55,  6.41s/it]  
 38%|███▊      | 340/900 [20:37<42:45,  4.58s/it]
 38%|███▊      | 341/900 [20:37<30:44,  3.30s/it]
 38%|███▊      | 342/900 [20:38<22:21,  2.40s/it]
 38%|███▊      | 343/900 [20:38<16:28,  1.77s/it]
 38%|███▊      | 344/900 [20:38<12:21,  1.33s/it]
 38%|███▊      | 345/900 [21:19<2:01:20, 13.12s/it]
 38%|███▊      | 346/900 [21:19<1:25:40,  9.28s/it]
 39%|███▊      | 347/900 [21:19<1:00:42,  6.59s/it]
 39%|███▊      | 348/900 [21:20<43:16,  4.70s/it]  
 39%|███▉      | 349/900 [21:20<31:04,  3.38s/it]
 39%|███▉      | 350/900 [21:20<22:33,  2.46s/it]
 39%|███▉      | 351/900 [21:21<16:37,  1.82s/it]
 39%|███▉      | 352/900 [21:21<12:27,  1.36s/it]
 39%|███▉      | 353/900 [22:02<2:02:07, 13.40s/it]
 39%|███▉      | 354/900 [22:03<1:26:11,  9.47s/it]
 39%|███▉      | 355/900 [22:03<1:01:04,  6.72s/it]
 40%|███▉      | 356/900 [22:03<43:30,  4.80s/it]  
 40%|███▉      | 357/900 [22:04<31:13,  3.45s/it]
 40%|███▉      | 358/900 [22:04<22:38,  2.51s/it]
 40%|███▉      | 359/900 [22:04<16:38,  1.85s/it]
 40%|████      | 360/900 [22:05<12:26,  1.38s/it]
 40%|████      | 361/900 [22:56<2:28:05, 16.48s/it]
 40%|████      | 362/900 [22:57<1:44:18, 11.63s/it]
 40%|████      | 363/900 [22:57<1:13:42,  8.24s/it]
 40%|████      | 364/900 [22:57<52:20,  5.86s/it]  
 41%|████      | 365/900 [22:58<37:24,  4.20s/it]
 41%|████      | 366/900 [22:58<26:57,  3.03s/it]
 41%|████      | 367/900 [22:58<19:40,  2.22s/it]
 41%|████      | 368/900 [22:59<14:33,  1.64s/it]
 41%|████      | 369/900 [24:26<4:03:44, 27.54s/it]
 41%|████      | 370/900 [24:27<2:51:07, 19.37s/it]
 41%|████      | 371/900 [24:27<2:00:23, 13.66s/it]
 41%|████▏     | 372/900 [24:27<1:24:56,  9.65s/it]
 41%|████▏     | 373/900 [24:28<1:00:08,  6.85s/it]
 42%|████▏     | 374/900 [24:28<42:49,  4.88s/it]  
 42%|████▏     | 375/900 [24:28<30:42,  3.51s/it]
 42%|████▏     | 376/900 [24:29<22:15,  2.55s/it]
 42%|████▏     | 377/900 [24:53<1:18:04,  8.96s/it]
 42%|████▏     | 378/900 [24:53<55:20,  6.36s/it]  
 42%|████▏     | 379/900 [24:53<39:27,  4.54s/it]
 42%|████▏     | 380/900 [24:53<28:21,  3.27s/it]
 42%|████▏     | 381/900 [24:54<20:36,  2.38s/it]
 42%|████▏     | 382/900 [24:54<15:11,  1.76s/it]
 43%|████▎     | 383/900 [24:54<11:25,  1.33s/it]
 43%|████▎     | 384/900 [24:55<08:47,  1.02s/it]
 43%|████▎     | 385/900 [25:22<1:17:10,  8.99s/it]
 43%|████▎     | 386/900 [25:23<54:41,  6.38s/it]  
 43%|████▎     | 387/900 [25:23<38:59,  4.56s/it]
 43%|████▎     | 388/900 [25:23<28:00,  3.28s/it]
 43%|████▎     | 389/900 [25:23<20:20,  2.39s/it]
 43%|████▎     | 390/900 [25:24<14:59,  1.76s/it]
 43%|████▎     | 391/900 [25:24<11:14,  1.33s/it]
 44%|████▎     | 392/900 [25:24<08:37,  1.02s/it]
 44%|████▎     | 393/900 [26:08<1:56:24, 13.78s/it]
 44%|████▍     | 394/900 [26:08<1:22:05,  9.74s/it]
 44%|████▍     | 395/900 [26:09<58:07,  6.91s/it]  
 44%|████▍     | 396/900 [26:09<41:22,  4.92s/it]
 44%|████▍     | 397/900 [26:09<29:39,  3.54s/it]
 44%|████▍     | 398/900 [26:09<21:28,  2.57s/it]
 44%|████▍     | 399/900 [26:10<15:46,  1.89s/it]
 44%|████▍     | 400/900 [26:10<11:46,  1.41s/it]
 45%|████▍     | 401/900 [27:40<3:53:33, 28.08s/it]
 45%|████▍     | 402/900 [27:41<2:43:55, 19.75s/it]
 45%|████▍     | 403/900 [27:41<1:55:16, 13.92s/it]
 45%|████▍     | 404/900 [27:41<1:21:17,  9.83s/it]
 45%|████▌     | 405/900 [27:42<57:34,  6.98s/it]  
 45%|████▌     | 406/900 [27:42<40:58,  4.98s/it]
 45%|████▌     | 407/900 [27:42<29:22,  3.58s/it]
 45%|████▌     | 408/900 [27:43<21:16,  2.59s/it]
 45%|████▌     | 409/900 [28:09<1:20:18,  9.81s/it]
 46%|████▌     | 410/900 [28:10<56:50,  6.96s/it]  
 46%|████▌     | 411/900 [28:10<40:27,  4.96s/it]
 46%|████▌     | 412/900 [28:10<29:00,  3.57s/it]
 46%|████▌     | 413/900 [28:10<21:00,  2.59s/it]
 46%|████▌     | 414/900 [28:11<15:24,  1.90s/it]
 46%|████▌     | 415/900 [28:11<11:30,  1.42s/it]
 46%|████▌     | 416/900 [28:11<08:46,  1.09s/it]
 46%|████▋     | 417/900 [28:41<1:17:44,  9.66s/it]
 46%|████▋     | 418/900 [28:41<55:04,  6.85s/it]  
 47%|████▋     | 419/900 [28:42<39:14,  4.89s/it]
 47%|████▋     | 420/900 [28:42<28:09,  3.52s/it]
 47%|████▋     | 421/900 [28:42<20:24,  2.56s/it]
 47%|████▋     | 422/900 [28:43<14:59,  1.88s/it]
 47%|████▋     | 423/900 [28:43<11:12,  1.41s/it]
 47%|████▋     | 424/900 [28:43<08:33,  1.08s/it]
 47%|████▋     | 425/900 [29:37<2:13:09, 16.82s/it]
 47%|████▋     | 426/900 [29:37<1:33:44, 11.87s/it]
 47%|████▋     | 427/900 [29:37<1:06:12,  8.40s/it]
 48%|████▊     | 428/900 [29:38<46:58,  5.97s/it]  
 48%|████▊     | 429/900 [29:38<33:32,  4.27s/it]
 48%|████▊     | 430/900 [29:38<24:09,  3.08s/it]
 48%|████▊     | 431/900 [29:39<17:36,  2.25s/it]
 48%|████▊     | 432/900 [29:39<13:02,  1.67s/it]
 48%|████▊     | 433/900 [30:03<1:05:53,  8.47s/it]
 48%|████▊     | 434/900 [30:04<46:44,  6.02s/it]  
 48%|████▊     | 435/900 [30:04<33:22,  4.31s/it]
 48%|████▊     | 436/900 [30:04<24:01,  3.11s/it]
 49%|████▊     | 437/900 [30:04<17:28,  2.27s/it]
 49%|████▊     | 438/900 [30:05<12:54,  1.68s/it]
 49%|████▉     | 439/900 [30:05<09:42,  1.26s/it]
 49%|████▉     | 440/900 [30:05<07:29,  1.02it/s]
 49%|████▉     | 441/900 [30:44<1:34:29, 12.35s/it]
 49%|████▉     | 442/900 [30:45<1:06:43,  8.74s/it]
 49%|████▉     | 443/900 [30:45<47:17,  6.21s/it]  
 49%|████▉     | 444/900 [30:45<33:43,  4.44s/it]
 49%|████▉     | 445/900 [30:45<24:14,  3.20s/it]
 50%|████▉     | 446/900 [30:46<17:37,  2.33s/it]
 50%|████▉     | 447/900 [30:46<13:00,  1.72s/it]
 50%|████▉     | 448/900 [30:46<09:46,  1.30s/it]
 50%|████▉     | 449/900 [31:38<2:03:17, 16.40s/it]
 50%|█████     | 450/900 [31:38<1:26:48, 11.57s/it]
 50%|█████     | 451/900 [31:39<1:01:18,  8.19s/it]
 50%|█████     | 452/900 [31:39<43:31,  5.83s/it]  
 50%|█████     | 453/900 [31:39<31:05,  4.17s/it]
 50%|█████     | 454/900 [31:40<22:24,  3.01s/it]
 51%|█████     | 455/900 [31:40<16:19,  2.20s/it]
 51%|█████     | 456/900 [31:40<12:05,  1.63s/it]
 51%|█████     | 457/900 [32:11<1:16:14, 10.33s/it]
 51%|█████     | 458/900 [32:11<53:55,  7.32s/it]  
 51%|█████     | 459/900 [32:11<38:21,  5.22s/it]
 51%|█████     | 460/900 [32:12<27:28,  3.75s/it]
 51%|█████     | 461/900 [32:12<19:51,  2.71s/it]
 51%|█████▏    | 462/900 [32:12<14:33,  1.99s/it]
 51%|█████▏    | 463/900 [32:13<10:50,  1.49s/it]
 52%|█████▏    | 464/900 [32:13<08:14,  1.13s/it]
 52%|█████▏    | 465/900 [32:37<58:33,  8.08s/it]
 52%|█████▏    | 466/900 [32:38<41:34,  5.75s/it]
 52%|█████▏    | 467/900 [32:38<29:41,  4.11s/it]
 52%|█████▏    | 468/900 [32:38<21:25,  2.97s/it]
 52%|█████▏    | 469/900 [32:38<15:37,  2.17s/it]
 52%|█████▏    | 470/900 [32:39<11:34,  1.61s/it]
 52%|█████▏    | 471/900 [32:39<08:44,  1.22s/it]
 52%|█████▏    | 472/900 [32:39<06:46,  1.05it/s]
 52%|█████▏    | 472/900 [1:02:40<56:50,  7.97s/it]
+2026-11-03T17:54:47Z [11,241,005ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T17:54:51Z] GPU 5: ReorientRedMugTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T17:55:21Z] GPU 5: Starting worker at ReorientRedMugTask/2 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:5
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_175526.log
+2026-11-03T17:55:26Z [11ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T17:55:26Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T17:55:26Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T17:55:26Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T17:55:26Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T17:55:26Z [28ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T17:55:26Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T17:55:26Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T17:55:26Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T17:55:26Z [42ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T17:55:26Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T17:55:26Z [49ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T17:55:26Z [52ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T17:55:26Z [54ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T17:55:26Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T17:55:26Z [59ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T17:55:26Z [62ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T17:55:30Z [3,703ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:55:30Z [3,704ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:55:30Z [3,786ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T17:55:31Z [4,510ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:55:31Z [4,511ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:55:31Z [4,512ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 857348
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T17:55:33Z [6,479ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T17:55:33Z [6,479ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 921.47  17.11  18.03  16.55  18.88  18.64  17.86  18.28 
+     1  19.07 918.58  18.58  18.86  19.73  19.76  19.81  19.06 
+     2  18.41  18.44 919.66  17.72  19.47  19.41  18.83  19.30 
+     3  17.51  19.37  18.84 920.20  20.25  19.01  19.80  19.75 
+     4  21.74  22.12  20.66  22.28 920.57  22.35  21.90  22.12 
+     5  19.85  22.28  21.83  22.36  22.51 923.46  22.04  21.72 
+     6  20.05  22.09  22.05  22.35  22.17  22.04 918.58  21.90 
+     7  20.00  22.22  20.46  21.97  22.18  21.27  22.04 921.83 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.39  13.43  12.51  12.43  12.55  12.91  12.72  17.07 
+     1  12.01   1.42  13.25  11.68  11.70  11.65  11.54  11.78 
+     2  11.93  11.64   1.36  11.58  11.65  11.92  11.76  13.92 
+     3  20.57  19.06  11.51   1.32  11.93  11.47  11.60  12.37 
+     4  12.73  12.86  15.37  14.23   1.35  11.54  12.37  14.77 
+     5  12.80  14.20  11.25  14.24  13.73   1.39  12.18  11.44 
+     6  13.63  15.57  12.18  11.84  13.31  13.25   1.45  13.29 
+     7  14.14  15.06  14.28  11.45  14.58  13.93  12.62   1.32 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.22   9.59   9.93   9.31  10.87  10.72  10.77  10.41 
+     1   9.53   3.36   9.28   9.18  10.80  21.39  11.00  12.17 
+     2   9.35   9.01   3.27   9.19  10.88  10.87  11.04  10.57 
+     3  16.41  20.56  12.24   2.74   8.74   8.94   8.52   8.38 
+     4   8.43   8.26   8.30   8.35   2.93   9.06   9.09   9.00 
+     5   8.32   8.11   8.24   8.20   9.13   2.97   9.07   8.90 
+     6   8.27   8.09   8.29   8.24   9.08   8.96   2.80   9.25 
+     7   8.17   8.11   8.16   8.15   9.01   8.97   8.96   2.74 
+2026-11-03T17:55:36Z [9,180ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.6 GB/s.
+2026-11-03T17:55:36Z [9,181ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.6 us.
+2026-11-03T17:55:36Z [9,181ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T17:55:39Z [12,418ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:55:39Z [12,418ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:55:39Z [12,503ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:55:39Z [12,503ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:55:39Z [12,514ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:55:39Z [12,514ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:55:39Z [12,704ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:55:39Z [12,705ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:55:39Z [12,710ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:55:39Z [12,710ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:55:39Z [12,717ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:55:39Z [12,717ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:55:40Z [13,605ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T17:55:43Z [17,018ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T17:55:53Z [26,405ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T17:55:54Z [27,506ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T17:56:07Z [40,803ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T17:56:07Z [40,805ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T17:56:08Z [41,306ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T17:56:11Z [44,337ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:56:11Z [44,338ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:56:11Z [44,340ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:56:11Z [44,357ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T17:56:11Z [44,383ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:56:11Z [44,383ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T17:56:26Z [59,184ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5585cf3891d0>)
+
+2026-11-03T17:56:26Z [59,185ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5585cf3891d0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab
+══════════════════════════════════════════════════════════════
+Loaded 8 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab.
+[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping.
+[RoboLab] Task `BlockStackingSpecifiedOrderTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T17:56:32Z [65,363ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.482457 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T17:56:36Z [69,860ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:56:36Z [69,861ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:56:36Z [69,929ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:56:36Z [69,929ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:56:36Z [69,938ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:56:36Z [69,945ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T17:56:37Z [70,147ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:56:37Z [70,170ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:56:40Z [73,519ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-03T17:56:40Z [73,519ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-03T17:56:40Z [73,541ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T17:56:40Z [73,541ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T17:56:42Z [75,425ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T17:56:42Z [75,426ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T17:56:42Z [75,452ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T17:56:42Z [75,453ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T17:56:42Z [75,511ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((180))' not available in the MDL representation.
+2026-11-03T17:56:42Z [75,511ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((180))' not available in the MDL representation.
+2026-11-03T17:56:43Z [76,921ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:56:43Z [76,921ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:56:44Z [77,640ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T17:56:44Z [77,999ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-03T17:56:44Z [77,999ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-03T17:56:44Z [78,000ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T17:56:44Z [78,000ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T17:56:44Z [78,001ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T17:56:44Z [78,001ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T17:56:44Z [78,002ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T17:56:44Z [78,002ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T17:56:44Z [78,004ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((180))' not available in the MDL representation.
+2026-11-03T17:56:44Z [78,004ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((180))' not available in the MDL representation.
+2026-11-03T17:56:44Z [78,006ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:56:44Z [78,006ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.255595 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientRedMugTask                            │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the red mug upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientRedMugTaskSceneEnvCfg                 │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `ReorientRedMugTask` run `0` already done. Skipping.
+[RoboLab] Task `ReorientRedMugTask` run `1` already done. Skipping.
+[RoboLab] Running ReorientRedMugTask_2: 'Put the red mug upright so that the opening is facing upwards.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:00<15:12:05, 60.87s/it]
  0%|          | 2/900 [01:01<6:18:11, 25.27s/it] 
  0%|          | 3/900 [01:01<3:27:27, 13.88s/it]
  0%|          | 4/900 [01:01<2:07:19,  8.53s/it]
  1%|          | 5/900 [01:02<1:23:08,  5.57s/it]
  1%|          | 6/900 [01:02<56:29,  3.79s/it]  
  1%|          | 7/900 [01:02<39:33,  2.66s/it]
  1%|          | 8/900 [01:03<28:31,  1.92s/it]
  1%|          | 9/900 [01:31<2:30:41, 10.15s/it]
  1%|          | 10/900 [01:31<1:45:29,  7.11s/it]
  1%|          | 11/900 [01:32<1:14:31,  5.03s/it]
  1%|▏         | 12/900 [01:32<53:12,  3.60s/it]  
  1%|▏         | 13/900 [01:32<38:26,  2.60s/it]
  2%|▏         | 14/900 [01:33<28:15,  1.91s/it]
  2%|▏         | 15/900 [01:33<21:08,  1.43s/it]
  2%|▏         | 16/900 [01:33<16:12,  1.10s/it]
  2%|▏         | 17/900 [01:57<1:57:45,  8.00s/it]
  2%|▏         | 18/900 [01:58<1:23:38,  5.69s/it]
  2%|▏         | 19/900 [01:58<59:54,  4.08s/it]  
  2%|▏         | 20/900 [01:58<43:17,  2.95s/it]
  2%|▏         | 21/900 [01:58<31:38,  2.16s/it]
  2%|▏         | 22/900 [01:59<23:31,  1.61s/it]
  3%|▎         | 23/900 [01:59<17:49,  1.22s/it]
  3%|▎         | 24/900 [01:59<13:53,  1.05it/s]
  3%|▎         | 25/900 [02:17<1:28:25,  6.06s/it]
  3%|▎         | 26/900 [02:18<1:03:18,  4.35s/it]
  3%|▎         | 27/900 [02:18<45:42,  3.14s/it]  
  3%|▎         | 28/900 [02:18<33:28,  2.30s/it]
  3%|▎         | 29/900 [02:19<24:50,  1.71s/it]2026-11-03T17:59:05Z [218,892ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  3%|▎         | 30/900 [02:19<18:47,  1.30s/it]
  3%|▎         | 31/900 [02:19<14:36,  1.01s/it]
  4%|▎         | 32/900 [02:20<11:41,  1.24it/s]
  4%|▎         | 33/900 [02:32<59:26,  4.11s/it]
  4%|▍         | 34/900 [02:32<43:03,  2.98s/it]
  4%|▍         | 35/900 [02:32<31:36,  2.19s/it]
  4%|▍         | 36/900 [02:33<23:37,  1.64s/it]
  4%|▍         | 37/900 [02:33<18:02,  1.25s/it]
  4%|▍         | 38/900 [02:33<14:06,  1.02it/s]
  4%|▍         | 39/900 [02:34<11:20,  1.27it/s]
  4%|▍         | 40/900 [02:34<09:21,  1.53it/s]
  5%|▍         | 41/900 [02:45<54:42,  3.82s/it]
  5%|▍         | 42/900 [02:46<39:43,  2.78s/it]
  5%|▍         | 43/900 [02:46<29:15,  2.05s/it]
  5%|▍         | 44/900 [02:46<21:56,  1.54s/it]
  5%|▌         | 45/900 [02:47<16:46,  1.18s/it]
  5%|▌         | 46/900 [02:47<13:11,  1.08it/s]
  5%|▌         | 47/900 [02:47<10:39,  1.33it/s]
  5%|▌         | 48/900 [02:48<08:55,  1.59it/s]
  5%|▌         | 49/900 [03:38<3:40:09, 15.52s/it]
  6%|▌         | 50/900 [03:38<2:35:23, 10.97s/it]
  6%|▌         | 51/900 [03:39<1:50:09,  7.79s/it]
  6%|▌         | 52/900 [03:39<1:18:38,  5.56s/it]
  6%|▌         | 53/900 [03:39<56:25,  4.00s/it]  
  6%|▌         | 54/900 [03:40<41:04,  2.91s/it]
  6%|▌         | 55/900 [03:40<30:19,  2.15s/it]
  6%|▌         | 56/900 [03:40<22:45,  1.62s/it]
  6%|▋         | 57/900 [04:09<2:17:13,  9.77s/it]
  6%|▋         | 58/900 [04:10<1:37:21,  6.94s/it]
  7%|▋         | 59/900 [04:10<1:09:30,  4.96s/it]
  7%|▋         | 60/900 [04:10<50:02,  3.57s/it]  
  7%|▋         | 61/900 [04:11<36:27,  2.61s/it]
  7%|▋         | 62/900 [04:11<26:57,  1.93s/it]
  7%|▋         | 63/900 [04:11<20:28,  1.47s/it]
  7%|▋         | 64/900 [04:12<15:46,  1.13s/it]
  7%|▋         | 65/900 [04:45<2:28:47, 10.69s/it]
  7%|▋         | 66/900 [04:45<1:45:34,  7.60s/it]
  7%|▋         | 67/900 [04:45<1:15:16,  5.42s/it]
  8%|▊         | 68/900 [04:46<54:06,  3.90s/it]  
  8%|▊         | 69/900 [04:46<39:17,  2.84s/it]
  8%|▊         | 70/900 [04:46<28:53,  2.09s/it]
  8%|▊         | 71/900 [04:47<21:38,  1.57s/it]
  8%|▊         | 72/900 [04:47<16:38,  1.21s/it]
  8%|▊         | 73/900 [05:04<1:22:42,  6.00s/it]
  8%|▊         | 74/900 [05:05<59:06,  4.29s/it]  
  8%|▊         | 75/900 [05:05<42:36,  3.10s/it]
  8%|▊         | 76/900 [05:05<31:17,  2.28s/it]
  9%|▊         | 77/900 [05:06<23:08,  1.69s/it]
  9%|▊         | 78/900 [05:06<17:26,  1.27s/it]
  9%|▉         | 79/900 [05:06<13:33,  1.01it/s]
  9%|▉         | 80/900 [05:07<10:51,  1.26it/s]
  9%|▉         | 81/900 [05:24<1:16:56,  5.64s/it]
  9%|▉         | 82/900 [05:24<55:07,  4.04s/it]  
  9%|▉         | 83/900 [05:24<39:55,  2.93s/it]
  9%|▉         | 84/900 [05:25<29:16,  2.15s/it]
  9%|▉         | 85/900 [05:25<21:47,  1.60s/it]
 10%|▉         | 86/900 [05:25<16:35,  1.22s/it]
 10%|▉         | 87/900 [05:26<12:57,  1.05it/s]
 10%|▉         | 88/900 [05:26<10:23,  1.30it/s]
 10%|▉         | 89/900 [05:56<2:07:21,  9.42s/it]
 10%|█         | 90/900 [05:56<1:30:24,  6.70s/it]
 10%|█         | 91/900 [05:56<1:04:32,  4.79s/it]
 10%|█         | 92/900 [05:57<46:31,  3.45s/it]  
 10%|█         | 93/900 [05:57<33:51,  2.52s/it]
 10%|█         | 94/900 [05:57<25:01,  1.86s/it]
 11%|█         | 95/900 [05:58<18:45,  1.40s/it]
 11%|█         | 96/900 [05:58<14:26,  1.08s/it]
 11%|█         | 97/900 [07:21<5:43:15, 25.65s/it]
 11%|█         | 98/900 [07:21<4:01:16, 18.05s/it]
 11%|█         | 99/900 [07:21<2:49:56, 12.73s/it]
 11%|█         | 100/900 [07:22<2:00:07,  9.01s/it]
 11%|█         | 101/900 [07:22<1:25:14,  6.40s/it]
 11%|█▏        | 102/900 [07:22<1:00:57,  4.58s/it]
 11%|█▏        | 103/900 [07:23<43:54,  3.31s/it]  
 12%|█▏        | 104/900 [07:23<32:00,  2.41s/it]
 12%|█▏        | 105/900 [08:17<3:56:27, 17.85s/it]
 12%|█▏        | 106/900 [08:17<2:46:33, 12.59s/it]
 12%|█▏        | 107/900 [08:18<1:57:41,  8.91s/it]
 12%|█▏        | 108/900 [08:18<1:23:31,  6.33s/it]
 12%|█▏        | 109/900 [08:18<59:39,  4.52s/it]  
 12%|█▏        | 110/900 [08:19<43:03,  3.27s/it]
 12%|█▏        | 111/900 [08:19<31:28,  2.39s/it]
 12%|█▏        | 112/900 [08:19<23:23,  1.78s/it]
 13%|█▎        | 113/900 [09:03<3:09:06, 14.42s/it]
 13%|█▎        | 114/900 [09:03<2:13:27, 10.19s/it]
 13%|█▎        | 115/900 [09:04<1:34:32,  7.23s/it]
 13%|█▎        | 116/900 [09:04<1:07:19,  5.15s/it]
 13%|█▎        | 117/900 [09:04<48:25,  3.71s/it]  
 13%|█▎        | 118/900 [09:05<35:05,  2.69s/it]
 13%|█▎        | 119/900 [09:05<25:45,  1.98s/it]
 13%|█▎        | 120/900 [09:05<19:13,  1.48s/it]
 13%|█▎        | 121/900 [10:12<4:32:25, 20.98s/it]
 14%|█▎        | 122/900 [10:12<3:11:49, 14.79s/it]
 14%|█▎        | 123/900 [10:13<2:15:19, 10.45s/it]
 14%|█▍        | 124/900 [10:13<1:35:53,  7.41s/it]
 14%|█▍        | 125/900 [10:13<1:08:28,  5.30s/it]
 14%|█▍        | 126/900 [10:14<49:10,  3.81s/it]  
 14%|█▍        | 127/900 [10:14<35:42,  2.77s/it]
 14%|█▍        | 128/900 [10:14<26:20,  2.05s/it]
 14%|█▍        | 129/900 [11:10<3:53:30, 18.17s/it]
 14%|█▍        | 130/900 [11:10<2:44:35, 12.82s/it]
 15%|█▍        | 131/900 [11:11<1:56:22,  9.08s/it]
 15%|█▍        | 132/900 [11:11<1:22:48,  6.47s/it]
 15%|█▍        | 133/900 [11:12<59:13,  4.63s/it]  
 15%|█▍        | 134/900 [11:12<42:50,  3.36s/it]
 15%|█▌        | 135/900 [11:12<31:21,  2.46s/it]
 15%|█▌        | 136/900 [11:13<23:08,  1.82s/it]
 15%|█▌        | 137/900 [11:34<1:36:56,  7.62s/it]
 15%|█▌        | 138/900 [11:34<1:09:06,  5.44s/it]
 15%|█▌        | 139/900 [11:34<49:38,  3.91s/it]  
 16%|█▌        | 140/900 [11:35<35:58,  2.84s/it]
 16%|█▌        | 141/900 [11:35<26:28,  2.09s/it]
 16%|█▌        | 142/900 [11:35<19:49,  1.57s/it]
 16%|█▌        | 143/900 [11:36<15:08,  1.20s/it]
 16%|█▌        | 144/900 [11:36<11:53,  1.06it/s]
 16%|█▌        | 145/900 [11:58<1:30:31,  7.19s/it]
 16%|█▌        | 146/900 [11:58<1:04:30,  5.13s/it]
 16%|█▋        | 147/900 [11:59<46:16,  3.69s/it]  
 16%|█▋        | 148/900 [11:59<33:37,  2.68s/it]
 17%|█▋        | 149/900 [11:59<24:40,  1.97s/it]
 17%|█▋        | 150/900 [12:00<18:36,  1.49s/it]
 17%|█▋        | 151/900 [12:00<14:12,  1.14s/it]
 17%|█▋        | 152/900 [12:00<11:15,  1.11it/s]
 17%|█▋        | 153/900 [12:29<1:54:10,  9.17s/it]
 17%|█▋        | 154/900 [12:29<1:21:07,  6.52s/it]
 17%|█▋        | 155/900 [12:29<58:10,  4.69s/it]  
 17%|█▋        | 156/900 [12:30<41:58,  3.38s/it]
 17%|█▋        | 157/900 [12:30<30:38,  2.47s/it]
 18%|█▊        | 158/900 [12:31<22:43,  1.84s/it]
 18%|█▊        | 159/900 [12:31<17:04,  1.38s/it]
 18%|█▊        | 160/900 [12:31<13:13,  1.07s/it]
 18%|█▊        | 161/900 [12:48<1:12:11,  5.86s/it]
 18%|█▊        | 162/900 [12:49<51:38,  4.20s/it]  
 18%|█▊        | 163/900 [12:49<37:18,  3.04s/it]
 18%|█▊        | 164/900 [12:49<27:22,  2.23s/it]
 18%|█▊        | 165/900 [12:50<20:18,  1.66s/it]
 18%|█▊        | 166/900 [12:50<15:27,  1.26s/it]
 19%|█▊        | 167/900 [12:50<11:57,  1.02it/s]
 19%|█▊        | 168/900 [12:51<09:32,  1.28it/s]
 19%|█▉        | 169/900 [12:51<10:00,  1.22it/s]
 19%|█▉        | 170/900 [12:52<08:17,  1.47it/s]
 19%|█▉        | 171/900 [12:52<06:58,  1.74it/s]
 19%|█▉        | 172/900 [12:52<06:09,  1.97it/s]
 19%|█▉        | 173/900 [12:53<05:35,  2.17it/s]
 19%|█▉        | 174/900 [12:53<05:03,  2.39it/s]
 19%|█▉        | 175/900 [12:53<04:48,  2.52it/s]
 20%|█▉        | 176/900 [12:54<04:30,  2.68it/s]
 20%|█▉        | 177/900 [12:55<06:27,  1.86it/s]
 20%|█▉        | 178/900 [12:55<05:46,  2.08it/s]
 20%|█▉        | 179/900 [12:55<05:18,  2.26it/s]
 20%|██        | 180/900 [12:56<04:58,  2.41it/s]
 20%|██        | 181/900 [12:56<04:43,  2.54it/s]
 20%|██        | 182/900 [12:56<04:25,  2.70it/s]
 20%|██        | 183/900 [12:57<04:22,  2.73it/s]
 20%|██        | 184/900 [12:57<04:12,  2.84it/s]
 21%|██        | 185/900 [13:39<2:33:23, 12.87s/it]
 21%|██        | 186/900 [13:40<1:48:26,  9.11s/it]
 21%|██        | 187/900 [13:40<1:16:57,  6.48s/it]
 21%|██        | 188/900 [13:40<54:57,  4.63s/it]  
 21%|██        | 189/900 [13:41<39:38,  3.35s/it]
 21%|██        | 190/900 [13:41<28:52,  2.44s/it]
 21%|██        | 191/900 [13:41<21:23,  1.81s/it]
 21%|██▏       | 192/900 [13:42<16:11,  1.37s/it]
 21%|██▏       | 193/900 [14:06<1:38:19,  8.34s/it]
 22%|██▏       | 194/900 [14:06<1:09:51,  5.94s/it]
 22%|██▏       | 195/900 [14:07<49:59,  4.25s/it]  
 22%|██▏       | 196/900 [14:07<36:04,  3.07s/it]
 22%|██▏       | 197/900 [14:07<26:23,  2.25s/it]
 22%|██▏       | 198/900 [14:08<19:35,  1.67s/it]
 22%|██▏       | 199/900 [14:08<14:50,  1.27s/it]
 22%|██▏       | 200/900 [14:08<11:30,  1.01it/s]
 22%|██▏       | 201/900 [14:42<2:06:30, 10.86s/it]
 22%|██▏       | 202/900 [14:43<1:29:35,  7.70s/it]
 23%|██▎       | 203/900 [14:43<1:03:47,  5.49s/it]
 23%|██▎       | 204/900 [14:43<45:44,  3.94s/it]  
 23%|██▎       | 205/900 [14:44<33:08,  2.86s/it]
 23%|██▎       | 206/900 [14:44<24:20,  2.10s/it]
 23%|██▎       | 207/900 [14:44<18:09,  1.57s/it]
 23%|██▎       | 208/900 [14:45<13:51,  1.20s/it]
 23%|██▎       | 209/900 [14:45<12:27,  1.08s/it]
 23%|██▎       | 210/900 [14:46<09:50,  1.17it/s]
 23%|██▎       | 211/900 [14:46<08:02,  1.43it/s]
 24%|██▎       | 212/900 [14:46<06:44,  1.70it/s]
 24%|██▎       | 213/900 [14:47<05:46,  1.98it/s]
 24%|██▍       | 214/900 [14:47<05:06,  2.24it/s]
 24%|██▍       | 215/900 [14:47<04:43,  2.41it/s]
 24%|██▍       | 216/900 [14:48<04:26,  2.57it/s]
 24%|██▍       | 217/900 [14:49<06:22,  1.78it/s]
 24%|██▍       | 218/900 [14:49<05:34,  2.04it/s]
 24%|██▍       | 219/900 [14:49<05:02,  2.25it/s]
 24%|██▍       | 220/900 [14:50<04:35,  2.46it/s]
 25%|██▍       | 221/900 [14:50<04:21,  2.60it/s]
 25%|██▍       | 222/900 [14:50<04:10,  2.70it/s]
 25%|██▍       | 223/900 [14:51<04:01,  2.80it/s]
 25%|██▍       | 224/900 [14:51<03:55,  2.87it/s]
 25%|██▌       | 225/900 [16:45<6:26:08, 34.32s/it]
 25%|██▌       | 226/900 [16:45<4:31:02, 24.13s/it]
 25%|██▌       | 227/900 [16:45<3:10:34, 16.99s/it]
 25%|██▌       | 228/900 [16:46<2:14:19, 11.99s/it]
 25%|██▌       | 229/900 [16:46<1:34:59,  8.49s/it]
 26%|██▌       | 230/900 [16:46<1:07:31,  6.05s/it]
 26%|██▌       | 231/900 [16:47<48:15,  4.33s/it]  
 26%|██▌       | 232/900 [16:47<34:46,  3.12s/it]
 26%|██▌       | 233/900 [16:48<27:03,  2.43s/it]
 26%|██▌       | 234/900 [16:48<20:02,  1.81s/it]
 26%|██▌       | 235/900 [16:48<15:06,  1.36s/it]
 26%|██▌       | 236/900 [16:49<11:40,  1.05s/it]
 26%|██▋       | 237/900 [16:49<09:16,  1.19it/s]
 26%|██▋       | 238/900 [16:49<07:35,  1.45it/s]
 27%|██▋       | 239/900 [16:50<06:26,  1.71it/s]
 27%|██▋       | 240/900 [16:50<05:36,  1.96it/s]
 27%|██▋       | 241/900 [16:51<06:29,  1.69it/s]
 27%|██▋       | 242/900 [16:51<05:34,  1.97it/s]
 27%|██▋       | 243/900 [16:52<04:59,  2.19it/s]
 27%|██▋       | 244/900 [16:52<04:35,  2.38it/s]
 27%|██▋       | 245/900 [16:52<04:18,  2.53it/s]
 27%|██▋       | 246/900 [16:53<04:01,  2.71it/s]
 27%|██▋       | 247/900 [16:53<03:53,  2.80it/s]
 28%|██▊       | 248/900 [16:53<03:46,  2.87it/s]
 28%|██▊       | 249/900 [16:54<05:49,  1.86it/s]
 28%|██▊       | 250/900 [16:54<05:07,  2.12it/s]
 28%|██▊       | 251/900 [16:55<04:39,  2.32it/s]
 28%|██▊       | 252/900 [16:55<04:20,  2.48it/s]
 28%|██▊       | 253/900 [16:56<04:11,  2.58it/s]
 28%|██▊       | 254/900 [16:56<04:02,  2.67it/s]
 28%|██▊       | 255/900 [16:56<03:52,  2.77it/s]
 28%|██▊       | 256/900 [16:57<03:46,  2.84it/s]
 29%|██▊       | 257/900 [17:14<57:18,  5.35s/it]
 29%|██▊       | 258/900 [17:14<41:16,  3.86s/it]
 29%|██▉       | 259/900 [17:14<29:58,  2.81s/it]
 29%|██▉       | 260/900 [17:15<22:04,  2.07s/it]
 29%|██▉       | 261/900 [17:15<16:31,  1.55s/it]
 29%|██▉       | 262/900 [17:15<12:34,  1.18s/it]
 29%|██▉       | 263/900 [17:16<09:53,  1.07it/s]
 29%|██▉       | 264/900 [17:16<07:59,  1.33it/s]
 29%|██▉       | 265/900 [17:17<08:23,  1.26it/s]
 30%|██▉       | 266/900 [17:17<06:56,  1.52it/s]
 30%|██▉       | 267/900 [17:18<05:54,  1.78it/s]
 30%|██▉       | 268/900 [17:18<05:12,  2.02it/s]
 30%|██▉       | 269/900 [17:18<04:46,  2.20it/s]
 30%|███       | 270/900 [17:19<04:30,  2.33it/s]
 30%|███       | 271/900 [17:19<04:16,  2.45it/s]
 30%|███       | 272/900 [17:19<04:01,  2.60it/s]
 30%|███       | 273/900 [17:20<05:25,  1.93it/s]
 30%|███       | 274/900 [17:20<04:54,  2.12it/s]
 31%|███       | 275/900 [17:21<04:25,  2.35it/s]
 31%|███       | 276/900 [17:21<04:12,  2.48it/s]
 31%|███       | 277/900 [17:21<03:55,  2.64it/s]
 31%|███       | 278/900 [17:22<03:44,  2.77it/s]
 31%|███       | 279/900 [17:22<03:38,  2.84it/s]
 31%|███       | 280/900 [17:22<03:34,  2.89it/s]
 31%|███       | 281/900 [17:23<05:14,  1.97it/s]
 31%|███▏      | 282/900 [17:24<04:37,  2.23it/s]
 31%|███▏      | 283/900 [17:24<04:13,  2.44it/s]
 32%|███▏      | 284/900 [17:24<03:55,  2.61it/s]
 32%|███▏      | 285/900 [17:25<03:43,  2.75it/s]
 32%|███▏      | 286/900 [17:25<03:41,  2.77it/s]
 32%|███▏      | 287/900 [17:25<03:39,  2.79it/s]
 32%|███▏      | 288/900 [17:26<03:47,  2.68it/s]
 32%|███▏      | 289/900 [17:27<06:27,  1.58it/s]
 32%|███▏      | 290/900 [17:27<05:34,  1.83it/s]
 32%|███▏      | 291/900 [17:28<04:57,  2.05it/s]
 32%|███▏      | 292/900 [17:28<04:31,  2.24it/s]
 33%|███▎      | 293/900 [17:28<04:13,  2.39it/s]
 33%|███▎      | 294/900 [17:29<04:00,  2.52it/s]
 33%|███▎      | 295/900 [17:29<03:51,  2.61it/s]
 33%|███▎      | 296/900 [17:29<03:41,  2.72it/s]
 33%|███▎      | 297/900 [17:55<1:19:07,  7.87s/it]
 33%|███▎      | 298/900 [17:55<56:20,  5.62s/it]  
 33%|███▎      | 299/900 [17:55<40:19,  4.03s/it]
 33%|███▎      | 300/900 [17:56<29:07,  2.91s/it]
 33%|███▎      | 301/900 [17:56<21:17,  2.13s/it]
 34%|███▎      | 302/900 [17:56<15:55,  1.60s/it]
 34%|███▎      | 303/900 [17:57<12:04,  1.21s/it]
 34%|███▍      | 304/900 [17:57<09:23,  1.06it/s]
 34%|███▍      | 305/900 [17:58<09:08,  1.08it/s]
 34%|███▍      | 306/900 [17:58<07:24,  1.34it/s]
 34%|███▍      | 307/900 [17:59<06:10,  1.60it/s]
 34%|███▍      | 308/900 [17:59<05:14,  1.88it/s]
 34%|███▍      | 309/900 [17:59<04:43,  2.09it/s]
 34%|███▍      | 310/900 [18:00<04:19,  2.28it/s]
 35%|███▍      | 311/900 [18:00<03:57,  2.48it/s]
 35%|███▍      | 312/900 [18:00<03:49,  2.56it/s]
 35%|███▍      | 313/900 [18:34<1:41:13, 10.35s/it]
 35%|███▍      | 314/900 [18:34<1:11:44,  7.35s/it]
 35%|███▌      | 315/900 [18:35<51:03,  5.24s/it]  
 35%|███▌      | 316/900 [18:35<36:40,  3.77s/it]
 35%|███▌      | 317/900 [18:35<26:36,  2.74s/it]
 35%|███▌      | 318/900 [18:36<19:37,  2.02s/it]
 35%|███▌      | 319/900 [18:36<14:43,  1.52s/it]
 36%|███▌      | 320/900 [18:36<11:18,  1.17s/it]
 36%|███▌      | 321/900 [18:39<15:00,  1.56s/it]
 36%|███▌      | 322/900 [18:39<11:30,  1.19s/it]
 36%|███▌      | 323/900 [18:39<08:58,  1.07it/s]
 36%|███▌      | 324/900 [18:40<07:10,  1.34it/s]
 36%|███▌      | 325/900 [18:40<06:01,  1.59it/s]
 36%|███▌      | 326/900 [18:40<05:16,  1.82it/s]
 36%|███▋      | 327/900 [18:41<04:44,  2.01it/s]
 36%|███▋      | 328/900 [18:41<04:20,  2.20it/s]
 37%|███▋      | 329/900 [18:44<10:52,  1.14s/it]
 37%|███▋      | 330/900 [18:44<08:30,  1.12it/s]
 37%|███▋      | 331/900 [18:45<06:56,  1.37it/s]
 37%|███▋      | 332/900 [18:45<05:45,  1.64it/s]
 37%|███▋      | 333/900 [18:45<05:00,  1.89it/s]
 37%|███▋      | 334/900 [18:46<04:28,  2.11it/s]
 37%|███▋      | 335/900 [18:46<04:06,  2.29it/s]
 37%|███▋      | 336/900 [18:46<03:52,  2.42it/s]
 37%|███▋      | 337/900 [18:48<08:51,  1.06it/s]
 38%|███▊      | 338/900 [18:49<07:05,  1.32it/s]
 38%|███▊      | 339/900 [18:49<05:50,  1.60it/s]
 38%|███▊      | 340/900 [18:49<05:04,  1.84it/s]
 38%|███▊      | 341/900 [18:50<04:30,  2.07it/s]
 38%|███▊      | 342/900 [18:50<04:02,  2.30it/s]
 38%|███▊      | 343/900 [18:50<03:47,  2.45it/s]
 38%|███▊      | 344/900 [18:51<03:39,  2.53it/s]
 38%|███▊      | 345/900 [18:53<09:22,  1.01s/it]
 38%|███▊      | 346/900 [18:54<07:30,  1.23it/s]
 39%|███▊      | 347/900 [18:54<06:14,  1.48it/s]
 39%|███▊      | 348/900 [18:54<05:20,  1.72it/s]
 39%|███▉      | 349/900 [18:55<04:36,  1.99it/s]
 39%|███▉      | 350/900 [18:55<04:05,  2.24it/s]
 39%|███▉      | 351/900 [18:55<03:50,  2.38it/s]
 39%|███▉      | 352/900 [18:56<03:38,  2.51it/s]
 39%|███▉      | 353/900 [18:58<08:13,  1.11it/s]
 39%|███▉      | 354/900 [18:58<06:44,  1.35it/s]
 39%|███▉      | 355/900 [18:58<05:40,  1.60it/s]
 40%|███▉      | 356/900 [18:59<04:57,  1.83it/s]
 40%|███▉      | 357/900 [18:59<04:22,  2.07it/s]
 40%|███▉      | 358/900 [19:00<03:56,  2.29it/s]
 40%|███▉      | 359/900 [19:00<03:41,  2.44it/s]
 40%|████      | 360/900 [19:00<03:34,  2.52it/s]
 40%|████      | 361/900 [19:24<1:06:22,  7.39s/it]
 40%|████      | 362/900 [19:24<47:21,  5.28s/it]  
 40%|████      | 363/900 [19:25<34:00,  3.80s/it]
 40%|████      | 364/900 [19:25<24:45,  2.77s/it]
 41%|████      | 365/900 [19:25<18:18,  2.05s/it]
 41%|████      | 366/900 [19:26<13:45,  1.55s/it]
 41%|████      | 367/900 [19:26<10:30,  1.18s/it]
 41%|████      | 368/900 [19:26<08:16,  1.07it/s]
 41%|████      | 369/900 [19:30<13:55,  1.57s/it]
 41%|████      | 370/900 [19:30<10:35,  1.20s/it]
 41%|████      | 371/900 [19:30<08:20,  1.06it/s]
 41%|████▏     | 372/900 [19:31<06:45,  1.30it/s]
 41%|████▏     | 373/900 [19:31<05:39,  1.55it/s]
 42%|████▏     | 374/900 [19:31<04:48,  1.82it/s]
 42%|████▏     | 375/900 [19:32<04:15,  2.05it/s]
 42%|████▏     | 376/900 [19:32<03:54,  2.23it/s]
 42%|████▏     | 377/900 [19:35<12:01,  1.38s/it]
 42%|████▏     | 378/900 [19:36<09:14,  1.06s/it]
 42%|████▏     | 379/900 [19:36<07:22,  1.18it/s]
 42%|████▏     | 380/900 [19:36<05:58,  1.45it/s]
 42%|████▏     | 381/900 [19:37<04:59,  1.73it/s]
 42%|████▏     | 382/900 [19:37<04:18,  2.00it/s]
 43%|████▎     | 383/900 [19:37<03:54,  2.20it/s]
 43%|████▎     | 384/900 [19:38<03:33,  2.42it/s]
 43%|████▎     | 385/900 [20:05<1:11:57,  8.38s/it]
 43%|████▎     | 386/900 [20:05<51:11,  5.98s/it]  
 43%|████▎     | 387/900 [20:05<36:35,  4.28s/it]
 43%|████▎     | 388/900 [20:06<26:22,  3.09s/it]
 43%|████▎     | 389/900 [20:06<19:15,  2.26s/it]
 43%|████▎     | 390/900 [20:06<14:16,  1.68s/it]
 43%|████▎     | 391/900 [20:07<10:49,  1.28s/it]
 44%|████▎     | 392/900 [20:07<08:24,  1.01it/s]
 44%|████▎     | 393/900 [20:08<08:40,  1.03s/it]
 44%|████▍     | 394/900 [20:09<06:54,  1.22it/s]
 44%|████▍     | 395/900 [20:09<05:39,  1.49it/s]
 44%|████▍     | 396/900 [20:09<04:46,  1.76it/s]
 44%|████▍     | 397/900 [20:09<04:09,  2.01it/s]
 44%|████▍     | 398/900 [20:10<03:45,  2.23it/s]
 44%|████▍     | 399/900 [20:10<03:31,  2.37it/s]
 44%|████▍     | 400/900 [20:11<03:21,  2.48it/s]
 45%|████▍     | 401/900 [20:36<1:06:52,  8.04s/it]
 45%|████▍     | 402/900 [20:37<47:31,  5.73s/it]  
 45%|████▍     | 403/900 [20:37<33:59,  4.10s/it]
 45%|████▍     | 404/900 [20:37<24:37,  2.98s/it]
 45%|████▌     | 405/900 [20:38<17:59,  2.18s/it]
 45%|████▌     | 406/900 [20:38<13:26,  1.63s/it]
 45%|████▌     | 407/900 [20:38<10:11,  1.24s/it]
 45%|████▌     | 408/900 [20:39<07:55,  1.04it/s]
 45%|████▌     | 409/900 [20:41<10:14,  1.25s/it]
 46%|████▌     | 410/900 [20:41<08:01,  1.02it/s]
 46%|████▌     | 411/900 [20:41<06:27,  1.26it/s]
 46%|████▌     | 412/900 [20:42<05:22,  1.51it/s]
 46%|████▌     | 413/900 [20:42<04:32,  1.79it/s]
 46%|████▌     | 414/900 [20:42<04:01,  2.01it/s]
 46%|████▌     | 415/900 [20:43<03:35,  2.25it/s]
 46%|████▌     | 416/900 [20:43<03:21,  2.40it/s]
 46%|████▋     | 417/900 [20:45<07:09,  1.12it/s]
 46%|████▋     | 418/900 [20:45<05:51,  1.37it/s]
 47%|████▋     | 419/900 [20:46<04:56,  1.62it/s]
 47%|████▋     | 420/900 [20:46<04:15,  1.88it/s]
 47%|████▋     | 421/900 [20:46<03:49,  2.09it/s]
 47%|████▋     | 422/900 [20:47<03:25,  2.32it/s]
 47%|████▋     | 423/900 [20:47<03:09,  2.51it/s]
 47%|████▋     | 424/900 [20:47<03:02,  2.61it/s]
 47%|████▋     | 425/900 [20:49<06:53,  1.15it/s]
 47%|████▋     | 426/900 [20:50<05:38,  1.40it/s]
 47%|████▋     | 427/900 [20:50<04:41,  1.68it/s]
 48%|████▊     | 428/900 [20:50<04:06,  1.92it/s]
 48%|████▊     | 429/900 [20:51<03:41,  2.13it/s]
 48%|████▊     | 430/900 [20:51<03:24,  2.30it/s]
 48%|████▊     | 431/900 [20:52<03:12,  2.44it/s]
 48%|████▊     | 432/900 [20:52<03:04,  2.54it/s]
 48%|████▊     | 433/900 [20:54<06:53,  1.13it/s]
 48%|████▊     | 434/900 [20:54<05:32,  1.40it/s]
 48%|████▊     | 435/900 [20:55<04:36,  1.68it/s]
 48%|████▊     | 436/900 [20:55<03:59,  1.94it/s]
 49%|████▊     | 437/900 [20:55<03:31,  2.19it/s]
 49%|████▊     | 438/900 [20:56<03:16,  2.36it/s]
 49%|████▉     | 439/900 [20:56<03:04,  2.50it/s]
 49%|████▉     | 440/900 [20:56<02:52,  2.66it/s]
 49%|████▉     | 441/900 [24:10<7:26:15, 58.33s/it]
 49%|████▉     | 442/900 [24:10<5:12:25, 40.93s/it]
 49%|████▉     | 443/900 [24:10<3:38:56, 28.75s/it]
 49%|████▉     | 444/900 [24:11<2:33:45, 20.23s/it]
 49%|████▉     | 445/900 [24:11<1:48:07, 14.26s/it]
 50%|████▉     | 446/900 [24:11<1:16:17, 10.08s/it]
 50%|████▉     | 447/900 [24:12<54:02,  7.16s/it]  
 50%|████▉     | 448/900 [24:12<38:33,  5.12s/it]
 50%|████▉     | 449/900 [24:13<28:46,  3.83s/it]
 50%|█████     | 450/900 [24:13<20:54,  2.79s/it]
 50%|█████     | 451/900 [24:14<15:22,  2.05s/it]
 50%|█████     | 452/900 [24:14<11:29,  1.54s/it]
 50%|█████     | 453/900 [24:14<08:44,  1.17s/it]
 50%|█████     | 454/900 [24:15<06:50,  1.09it/s]
 51%|█████     | 455/900 [24:15<05:32,  1.34it/s]
 51%|█████     | 456/900 [24:15<04:37,  1.60it/s]
 51%|█████     | 457/900 [24:16<05:09,  1.43it/s]
 51%|█████     | 458/900 [24:17<04:20,  1.69it/s]
 51%|█████     | 459/900 [24:17<03:45,  1.96it/s]
 51%|█████     | 460/900 [24:17<03:21,  2.18it/s]
 51%|█████     | 461/900 [24:18<03:04,  2.38it/s]
 51%|█████▏    | 462/900 [24:18<02:51,  2.56it/s]
 51%|█████▏    | 463/900 [24:18<02:45,  2.64it/s]
 52%|█████▏    | 464/900 [24:19<02:40,  2.72it/s]
 52%|█████▏    | 465/900 [24:51<1:13:27, 10.13s/it]
 52%|█████▏    | 466/900 [24:52<52:00,  7.19s/it]  
 52%|█████▏    | 467/900 [24:52<37:01,  5.13s/it]
 52%|█████▏    | 468/900 [24:52<26:34,  3.69s/it]
 52%|█████▏    | 469/900 [24:53<19:16,  2.68s/it]
 52%|█████▏    | 470/900 [24:53<14:11,  1.98s/it]
 52%|█████▏    | 471/900 [24:53<10:38,  1.49s/it]
 52%|█████▏    | 472/900 [24:54<08:08,  1.14s/it]
 53%|█████▎    | 473/900 [24:55<07:36,  1.07s/it]
 53%|█████▎    | 474/900 [24:55<06:00,  1.18it/s]
 53%|█████▎    | 475/900 [24:55<04:54,  1.44it/s]
 53%|█████▎    | 476/900 [24:56<04:08,  1.71it/s]
 53%|█████▎    | 477/900 [24:56<03:35,  1.96it/s]
 53%|█████▎    | 478/900 [24:56<03:12,  2.19it/s]
 53%|█████▎    | 479/900 [24:57<02:56,  2.39it/s]
 53%|█████▎    | 480/900 [24:57<02:42,  2.58it/s]
 53%|█████▎    | 481/900 [25:28<1:06:52,  9.58s/it]
 54%|█████▎    | 482/900 [25:28<47:23,  6.80s/it]  
 54%|█████▎    | 483/900 [25:29<33:47,  4.86s/it]
 54%|█████▍    | 484/900 [25:29<24:17,  3.50s/it]
 54%|█████▍    | 485/900 [25:29<17:39,  2.55s/it]
 54%|█████▍    | 486/900 [25:30<13:01,  1.89s/it]
 54%|█████▍    | 487/900 [25:30<09:47,  1.42s/it]
 54%|█████▍    | 488/900 [25:30<07:30,  1.09s/it]
 54%|█████▍    | 489/900 [25:31<06:56,  1.01s/it]
 54%|█████▍    | 490/900 [25:31<05:32,  1.23it/s]
 55%|█████▍    | 491/900 [25:32<04:34,  1.49it/s]
 55%|█████▍    | 492/900 [25:32<03:55,  1.73it/s]
 55%|█████▍    | 493/900 [25:33<03:27,  1.96it/s]
 55%|█████▍    | 494/900 [25:33<03:07,  2.16it/s]
 55%|█████▌    | 495/900 [25:33<02:53,  2.34it/s]
 55%|█████▌    | 496/900 [25:34<02:41,  2.50it/s]
 55%|█████▌    | 497/900 [27:34<4:05:05, 36.49s/it]
 55%|█████▌    | 498/900 [27:35<2:51:50, 25.65s/it]
 55%|█████▌    | 499/900 [27:35<2:00:39, 18.05s/it]
 56%|█████▌    | 500/900 [27:36<1:25:50, 12.88s/it]
 56%|█████▌    | 501/900 [27:36<1:00:36,  9.11s/it]
 56%|█████▌    | 502/900 [27:36<42:59,  6.48s/it]  
 56%|█████▌    | 503/900 [27:37<30:39,  4.63s/it]
 56%|█████▌    | 504/900 [27:37<22:02,  3.34s/it]
 56%|█████▌    | 505/900 [27:38<17:14,  2.62s/it]
 56%|█████▌    | 506/900 [27:38<12:42,  1.93s/it]
 56%|█████▋    | 507/900 [27:39<09:31,  1.45s/it]
 56%|█████▋    | 508/900 [27:39<07:17,  1.12s/it]
 57%|█████▋    | 509/900 [27:39<05:42,  1.14it/s]
 57%|█████▋    | 510/900 [27:40<04:38,  1.40it/s]
 57%|█████▋    | 511/900 [27:40<03:53,  1.67it/s]
 57%|█████▋    | 512/900 [27:40<03:21,  1.93it/s]
 57%|█████▋    | 513/900 [27:41<04:09,  1.55it/s]
 57%|█████▋    | 514/900 [27:42<03:32,  1.81it/s]
 57%|█████▋    | 515/900 [27:42<03:08,  2.04it/s]
 57%|█████▋    | 516/900 [27:42<02:50,  2.26it/s]
 57%|█████▋    | 517/900 [27:43<02:39,  2.41it/s]
 58%|█████▊    | 518/900 [27:43<02:31,  2.51it/s]
 58%|█████▊    | 519/900 [27:43<02:26,  2.60it/s]
 58%|█████▊    | 520/900 [27:44<02:22,  2.67it/s]
 58%|█████▊    | 521/900 [27:45<03:19,  1.90it/s]
 58%|█████▊    | 522/900 [27:45<02:59,  2.10it/s]
 58%|█████▊    | 523/900 [27:45<02:45,  2.28it/s]
 58%|█████▊    | 524/900 [27:46<02:35,  2.43it/s]
 58%|█████▊    | 525/900 [27:46<02:27,  2.53it/s]
 58%|█████▊    | 526/900 [27:46<02:23,  2.60it/s]
 59%|█████▊    | 527/900 [27:47<02:16,  2.74it/s]
 59%|█████▊    | 528/900 [27:47<02:10,  2.85it/s]
 59%|█████▉    | 529/900 [28:08<40:40,  6.58s/it]
 59%|█████▉    | 530/900 [28:08<28:59,  4.70s/it]
 59%|█████▉    | 531/900 [28:09<20:49,  3.39s/it]
 59%|█████▉    | 532/900 [28:09<15:10,  2.47s/it]
 59%|█████▉    | 533/900 [28:09<11:14,  1.84s/it]
 59%|█████▉    | 534/900 [28:10<08:28,  1.39s/it]
 59%|█████▉    | 535/900 [28:10<06:32,  1.07s/it]
 60%|█████▉    | 536/900 [28:10<05:08,  1.18it/s]
 60%|█████▉    | 537/900 [28:11<05:07,  1.18it/s]
 60%|█████▉    | 538/900 [28:12<04:13,  1.43it/s]
 60%|█████▉    | 539/900 [28:12<03:35,  1.68it/s]
 60%|██████    | 540/900 [28:12<03:04,  1.95it/s]
 60%|██████    | 541/900 [28:13<02:47,  2.14it/s]
 60%|██████    | 542/900 [28:13<02:31,  2.36it/s]
 60%|██████    | 543/900 [28:13<02:23,  2.48it/s]
 60%|██████    | 544/900 [28:14<02:14,  2.65it/s]
 61%|██████    | 545/900 [28:14<02:51,  2.07it/s]
 61%|██████    | 546/900 [28:15<02:37,  2.25it/s]
 61%|██████    | 547/900 [28:15<02:26,  2.40it/s]
 61%|██████    | 548/900 [28:15<02:19,  2.52it/s]
 61%|██████    | 549/900 [28:16<02:14,  2.62it/s]
 61%|██████    | 550/900 [28:16<02:06,  2.76it/s]
 61%|██████    | 551/900 [28:16<02:02,  2.85it/s]
 61%|██████▏   | 552/900 [28:17<01:58,  2.94it/s]
 61%|██████▏   | 553/900 [28:18<02:46,  2.08it/s]
 62%|██████▏   | 554/900 [28:18<02:30,  2.31it/s]
 62%|██████▏   | 555/900 [28:18<02:21,  2.43it/s]
 62%|██████▏   | 556/900 [28:19<02:13,  2.59it/s]
 62%|██████▏   | 557/900 [28:19<02:06,  2.71it/s]
 62%|██████▏   | 558/900 [28:19<02:01,  2.82it/s]
 62%|██████▏   | 559/900 [28:20<01:58,  2.88it/s]
 62%|██████▏   | 560/900 [28:20<01:54,  2.96it/s]
 62%|██████▏   | 561/900 [28:21<02:51,  1.98it/s]
 62%|██████▏   | 562/900 [28:21<02:35,  2.17it/s]
 63%|██████▎   | 563/900 [28:22<02:26,  2.30it/s]
 63%|██████▎   | 564/900 [28:22<02:18,  2.43it/s]
 63%|██████▎   | 565/900 [28:22<02:13,  2.51it/s]
 63%|██████▎   | 566/900 [28:23<02:12,  2.53it/s]
 63%|██████▎   | 567/900 [28:23<02:06,  2.62it/s]
 63%|██████▎   | 568/900 [28:23<02:05,  2.64it/s]
 63%|██████▎   | 569/900 [28:43<34:35,  6.27s/it]
 63%|██████▎   | 570/900 [28:44<24:43,  4.50s/it]
 63%|██████▎   | 571/900 [28:44<17:48,  3.25s/it]
 64%|██████▎   | 572/900 [28:44<13:00,  2.38s/it]
 64%|██████▎   | 573/900 [28:45<09:36,  1.76s/it]
 64%|██████▍   | 574/900 [28:45<07:13,  1.33s/it]
 64%|██████▍   | 575/900 [28:45<05:33,  1.03s/it]
 64%|██████▍   | 576/900 [28:46<04:24,  1.23it/s]
 64%|██████▍   | 577/900 [28:47<05:43,  1.06s/it]
 64%|██████▍   | 578/900 [28:48<04:34,  1.17it/s]
 64%|██████▍   | 579/900 [28:48<03:45,  1.42it/s]
 64%|██████▍   | 580/900 [28:48<03:07,  1.70it/s]
 65%|██████▍   | 581/900 [28:49<02:44,  1.94it/s]
 65%|██████▍   | 582/900 [28:49<02:25,  2.19it/s]
 65%|██████▍   | 583/900 [28:49<02:14,  2.36it/s]
 65%|██████▍   | 584/900 [28:50<02:06,  2.49it/s]
 65%|██████▌   | 585/900 [28:51<04:09,  1.26it/s]
 65%|██████▌   | 586/900 [28:52<03:23,  1.54it/s]
 65%|██████▌   | 587/900 [28:52<02:55,  1.79it/s]
 65%|██████▌   | 588/900 [28:52<02:35,  2.01it/s]
 65%|██████▌   | 589/900 [28:53<02:20,  2.21it/s]
 66%|██████▌   | 590/900 [28:53<02:10,  2.37it/s]
 66%|██████▌   | 591/900 [28:53<02:04,  2.49it/s]
 66%|██████▌   | 592/900 [28:54<01:58,  2.60it/s]
 66%|██████▌   | 593/900 [28:56<04:26,  1.15it/s]
 66%|██████▌   | 594/900 [28:56<03:39,  1.39it/s]
 66%|██████▌   | 595/900 [28:57<03:02,  1.67it/s]
 66%|██████▌   | 596/900 [28:57<02:36,  1.95it/s]
 66%|██████▋   | 597/900 [28:57<02:19,  2.17it/s]
 66%|██████▋   | 598/900 [28:58<02:08,  2.34it/s]
 67%|██████▋   | 599/900 [28:58<02:01,  2.47it/s]
 67%|██████▋   | 600/900 [28:58<01:53,  2.65it/s]
 67%|██████▋   | 601/900 [28:59<03:11,  1.56it/s]
 67%|██████▋   | 602/900 [29:00<02:44,  1.81it/s]
 67%|██████▋   | 603/900 [29:00<02:26,  2.03it/s]
 67%|██████▋   | 604/900 [29:00<02:13,  2.22it/s]
 67%|██████▋   | 605/900 [29:01<02:04,  2.37it/s]
 67%|██████▋   | 606/900 [29:01<01:54,  2.56it/s]
 67%|██████▋   | 607/900 [29:01<01:48,  2.71it/s]
 68%|██████▊   | 608/900 [29:02<01:43,  2.82it/s]
 68%|██████▊   | 609/900 [29:24<32:53,  6.78s/it]
 68%|██████▊   | 610/900 [29:24<23:28,  4.86s/it]
 68%|██████▊   | 611/900 [29:24<16:54,  3.51s/it]
 68%|██████▊   | 612/900 [29:25<12:18,  2.57s/it]
 68%|██████▊   | 613/900 [29:25<09:02,  1.89s/it]
 68%|██████▊   | 614/900 [29:25<06:49,  1.43s/it]
 68%|██████▊   | 615/900 [29:26<05:17,  1.11s/it]
 68%|██████▊   | 616/900 [29:26<04:10,  1.13it/s]
 69%|██████▊   | 617/900 [29:27<04:07,  1.14it/s]
 69%|██████▊   | 618/900 [29:27<03:20,  1.41it/s]
 69%|██████▉   | 619/900 [29:28<02:49,  1.66it/s]
 69%|██████▉   | 620/900 [29:28<02:28,  1.89it/s]
 69%|██████▉   | 621/900 [29:28<02:13,  2.09it/s]
 69%|██████▉   | 622/900 [29:29<02:02,  2.26it/s]
 69%|██████▉   | 623/900 [29:29<01:55,  2.40it/s]
 69%|██████▉   | 624/900 [29:29<01:47,  2.57it/s]
 69%|██████▉   | 625/900 [29:30<02:27,  1.87it/s]
 70%|██████▉   | 626/900 [29:31<02:11,  2.08it/s]
 70%|██████▉   | 627/900 [29:31<02:01,  2.25it/s]
 70%|██████▉   | 628/900 [29:31<01:53,  2.40it/s]
 70%|██████▉   | 629/900 [29:32<01:45,  2.57it/s]
 70%|███████   | 630/900 [29:32<01:42,  2.63it/s]
 70%|███████   | 631/900 [29:32<01:40,  2.68it/s]
 70%|███████   | 632/900 [29:33<01:38,  2.71it/s]
 70%|███████   | 633/900 [29:53<28:39,  6.44s/it]
 70%|███████   | 634/900 [29:54<20:24,  4.60s/it]
 71%|███████   | 635/900 [29:54<14:38,  3.32s/it]
 71%|███████   | 636/900 [29:54<10:38,  2.42s/it]
 71%|███████   | 637/900 [29:55<07:50,  1.79s/it]
 71%|███████   | 638/900 [29:55<05:55,  1.36s/it]
 71%|███████   | 639/900 [29:55<04:35,  1.06s/it]
 71%|███████   | 640/900 [29:56<03:39,  1.18it/s]
 71%|███████   | 641/900 [29:56<03:38,  1.19it/s]
 71%|███████▏  | 642/900 [29:57<02:57,  1.45it/s]
 71%|███████▏  | 643/900 [29:57<02:29,  1.72it/s]
 72%|███████▏  | 644/900 [29:57<02:11,  1.95it/s]
 72%|███████▏  | 645/900 [29:58<01:56,  2.20it/s]
 72%|███████▏  | 646/900 [29:58<01:47,  2.35it/s]
 72%|███████▏  | 647/900 [29:58<01:39,  2.54it/s]
 72%|███████▏  | 648/900 [29:59<01:36,  2.61it/s]
 72%|███████▏  | 649/900 [30:30<40:39,  9.72s/it]
 72%|███████▏  | 650/900 [30:31<28:47,  6.91s/it]
 72%|███████▏  | 651/900 [30:31<20:31,  4.94s/it]
 72%|███████▏  | 652/900 [30:31<14:46,  3.57s/it]
 73%|███████▎  | 653/900 [30:32<10:41,  2.60s/it]
 73%|███████▎  | 654/900 [30:32<07:53,  1.93s/it]
 73%|███████▎  | 655/900 [30:32<05:56,  1.45s/it]
 73%|███████▎  | 656/900 [30:33<04:31,  1.11s/it]
 73%|███████▎  | 657/900 [31:39<1:24:01, 20.75s/it]
 73%|███████▎  | 658/900 [31:40<58:59, 14.63s/it]  
 73%|███████▎  | 659/900 [31:40<41:30, 10.33s/it]
 73%|███████▎  | 660/900 [31:40<29:19,  7.33s/it]
 73%|███████▎  | 661/900 [31:41<20:51,  5.24s/it]
 74%|███████▎  | 662/900 [31:41<14:58,  3.78s/it]
 74%|███████▎  | 663/900 [31:41<10:49,  2.74s/it]
 74%|███████▍  | 664/900 [31:42<07:57,  2.02s/it]
 74%|███████▍  | 665/900 [32:14<43:49, 11.19s/it]
 74%|███████▍  | 666/900 [32:15<30:58,  7.94s/it]
 74%|███████▍  | 667/900 [32:15<21:59,  5.66s/it]
 74%|███████▍  | 668/900 [32:15<15:44,  4.07s/it]
 74%|███████▍  | 669/900 [32:16<11:20,  2.95s/it]
 74%|███████▍  | 670/900 [32:16<08:18,  2.17s/it]
 75%|███████▍  | 671/900 [32:16<06:10,  1.62s/it]
 75%|███████▍  | 672/900 [32:17<04:40,  1.23s/it]
 75%|███████▍  | 673/900 [32:18<04:14,  1.12s/it]
 75%|███████▍  | 674/900 [32:18<03:20,  1.13it/s]
 75%|███████▌  | 675/900 [32:18<02:45,  1.36it/s]
 75%|███████▌  | 676/900 [32:19<02:20,  1.59it/s]
 75%|███████▌  | 677/900 [32:19<02:03,  1.81it/s]
 75%|███████▌  | 678/900 [32:19<01:51,  1.99it/s]
 75%|███████▌  | 679/900 [32:20<01:39,  2.23it/s]
 76%|███████▌  | 680/900 [32:20<01:32,  2.38it/s]
 76%|███████▌  | 681/900 [32:56<40:00, 10.96s/it]
 76%|███████▌  | 682/900 [32:56<28:13,  7.77s/it]
 76%|███████▌  | 683/900 [32:56<20:00,  5.53s/it]
 76%|███████▌  | 684/900 [32:57<14:17,  3.97s/it]
 76%|███████▌  | 685/900 [32:57<10:18,  2.87s/it]
 76%|███████▌  | 686/900 [32:57<07:32,  2.11s/it]
 76%|███████▋  | 687/900 [32:58<05:35,  1.57s/it]
 76%|███████▋  | 688/900 [32:58<04:13,  1.20s/it]
 77%|███████▋  | 689/900 [32:59<03:57,  1.13s/it]
 77%|███████▋  | 690/900 [32:59<03:05,  1.13it/s]
 77%|███████▋  | 691/900 [32:59<02:28,  1.40it/s]
 77%|███████▋  | 692/900 [33:00<02:03,  1.68it/s]
 77%|███████▋  | 693/900 [33:00<01:50,  1.87it/s]
 77%|███████▋  | 694/900 [33:01<01:36,  2.13it/s]
 77%|███████▋  | 695/900 [33:01<01:27,  2.34it/s]
 77%|███████▋  | 696/900 [33:01<01:19,  2.55it/s]
 77%|███████▋  | 697/900 [33:37<36:56, 10.92s/it]
 78%|███████▊  | 698/900 [33:37<26:02,  7.74s/it]
 78%|███████▊  | 699/900 [33:37<18:28,  5.51s/it]
 78%|███████▊  | 700/900 [33:38<13:11,  3.96s/it]
 78%|███████▊  | 701/900 [33:38<09:30,  2.87s/it]
 78%|███████▊  | 702/900 [33:38<06:56,  2.10s/it]
 78%|███████▊  | 703/900 [33:39<05:10,  1.58s/it]
 78%|███████▊  | 704/900 [33:39<03:55,  1.20s/it]
 78%|███████▊  | 705/900 [33:40<03:36,  1.11s/it]
 78%|███████▊  | 706/900 [33:40<02:51,  1.13it/s]
 79%|███████▊  | 707/900 [33:40<02:18,  1.40it/s]
 79%|███████▊  | 708/900 [33:41<01:54,  1.68it/s]
 79%|███████▉  | 709/900 [33:41<01:38,  1.95it/s]
 79%|███████▉  | 710/900 [33:41<01:26,  2.19it/s]
 79%|███████▉  | 711/900 [33:42<01:18,  2.41it/s]
 79%|███████▉  | 712/900 [33:42<01:12,  2.59it/s]
 79%|███████▉  | 713/900 [34:36<51:13, 16.44s/it]
 79%|███████▉  | 714/900 [34:36<35:59, 11.61s/it]
 79%|███████▉  | 715/900 [34:37<25:21,  8.22s/it]
 80%|███████▉  | 716/900 [34:37<17:57,  5.85s/it]
 80%|███████▉  | 717/900 [34:37<12:48,  4.20s/it]
 80%|███████▉  | 718/900 [34:38<09:12,  3.04s/it]
 80%|███████▉  | 719/900 [34:38<06:43,  2.23s/it]
 80%|████████  | 720/900 [34:38<05:01,  1.67s/it]
 80%|████████  | 721/900 [35:02<24:22,  8.17s/it]
 80%|████████  | 722/900 [35:02<17:16,  5.83s/it]
 80%|████████  | 723/900 [35:02<12:20,  4.18s/it]
 80%|████████  | 724/900 [35:03<08:53,  3.03s/it]
 81%|████████  | 725/900 [35:03<06:29,  2.23s/it]
 81%|████████  | 726/900 [35:03<04:49,  1.66s/it]
 81%|████████  | 727/900 [35:04<03:38,  1.26s/it]
 81%|████████  | 728/900 [35:04<02:50,  1.01it/s]
 81%|████████  | 729/900 [35:57<47:23, 16.63s/it]
 81%|████████  | 730/900 [35:58<33:16, 11.74s/it]
 81%|████████  | 731/900 [35:58<23:26,  8.32s/it]
 81%|████████▏ | 732/900 [35:58<16:36,  5.93s/it]
 81%|████████▏ | 733/900 [35:59<11:50,  4.26s/it]
 82%|████████▏ | 734/900 [35:59<08:32,  3.08s/it]
 82%|████████▏ | 735/900 [35:59<06:13,  2.26s/it]
 82%|████████▏ | 736/900 [36:00<04:37,  1.69s/it]
 82%|████████▏ | 737/900 [36:28<26:33,  9.78s/it]
 82%|████████▏ | 738/900 [36:29<18:44,  6.94s/it]
 82%|████████▏ | 739/900 [36:29<13:18,  4.96s/it]
 82%|████████▏ | 740/900 [36:29<09:32,  3.58s/it]
 82%|████████▏ | 741/900 [36:30<06:54,  2.60s/it]
 82%|████████▏ | 742/900 [36:30<05:04,  1.93s/it]
 83%|████████▎ | 743/900 [36:30<03:48,  1.45s/it]
 83%|████████▎ | 744/900 [36:31<02:55,  1.12s/it]
 83%|████████▎ | 745/900 [37:06<29:24, 11.39s/it]
 83%|████████▎ | 746/900 [37:06<20:42,  8.07s/it]
 83%|████████▎ | 747/900 [37:07<14:39,  5.75s/it]
 83%|████████▎ | 748/900 [37:07<10:26,  4.12s/it]
 83%|████████▎ | 749/900 [37:07<07:31,  2.99s/it]
 83%|████████▎ | 750/900 [37:08<05:29,  2.20s/it]
 83%|████████▎ | 751/900 [37:08<04:03,  1.64s/it]
 84%|████████▎ | 752/900 [37:08<03:04,  1.25s/it]
 84%|████████▎ | 753/900 [37:50<32:43, 13.35s/it]
 84%|████████▍ | 754/900 [37:50<22:59,  9.45s/it]
 84%|████████▍ | 755/900 [37:51<16:14,  6.72s/it]
 84%|████████▍ | 756/900 [37:51<11:32,  4.81s/it]
 84%|████████▍ | 757/900 [37:51<08:15,  3.46s/it]
 84%|████████▍ | 758/900 [37:52<05:58,  2.53s/it]
 84%|████████▍ | 759/900 [37:52<04:23,  1.87s/it]
 84%|████████▍ | 760/900 [37:52<03:17,  1.41s/it]
 85%|████████▍ | 761/900 [40:24<1:47:49, 46.54s/it]
 85%|████████▍ | 762/900 [40:25<1:15:10, 32.68s/it]
 85%|████████▍ | 763/900 [40:25<52:27, 22.97s/it]  
 85%|████████▍ | 764/900 [40:25<36:40, 16.18s/it]
 85%|████████▌ | 765/900 [40:26<25:44, 11.44s/it]
 85%|████████▌ | 766/900 [40:26<18:06,  8.11s/it]
 85%|████████▌ | 767/900 [40:26<12:47,  5.77s/it]
 85%|████████▌ | 768/900 [40:27<09:05,  4.13s/it]
 85%|████████▌ | 769/900 [41:10<34:59, 16.03s/it]
 86%|████████▌ | 770/900 [41:11<24:31, 11.32s/it]
 86%|████████▌ | 771/900 [41:11<17:14,  8.02s/it]
 86%|████████▌ | 772/900 [41:11<12:11,  5.72s/it]
 86%|████████▌ | 773/900 [41:12<08:41,  4.10s/it]
 86%|████████▌ | 774/900 [41:12<06:13,  2.97s/it]
 86%|████████▌ | 775/900 [41:12<04:32,  2.18s/it]
 86%|████████▌ | 776/900 [41:13<03:21,  1.63s/it]
 86%|████████▋ | 777/900 [41:37<17:04,  8.33s/it]
 86%|████████▋ | 778/900 [41:37<12:02,  5.92s/it]
 87%|████████▋ | 779/900 [41:37<08:33,  4.24s/it]
 87%|████████▋ | 780/900 [41:38<06:08,  3.07s/it]
 87%|████████▋ | 781/900 [41:38<04:28,  2.25s/it]
 87%|████████▋ | 782/900 [41:38<03:17,  1.68s/it]
 87%|████████▋ | 783/900 [41:39<02:29,  1.28s/it]
 87%|████████▋ | 784/900 [41:39<01:54,  1.01it/s]
 87%|████████▋ | 785/900 [41:40<01:46,  1.08it/s]
 87%|████████▋ | 786/900 [41:40<01:26,  1.33it/s]
 87%|████████▋ | 787/900 [41:40<01:10,  1.60it/s]
 88%|████████▊ | 788/900 [41:41<01:00,  1.86it/s]
 88%|████████▊ | 789/900 [41:41<00:52,  2.11it/s]
 88%|████████▊ | 790/900 [41:41<00:47,  2.30it/s]
 88%|████████▊ | 791/900 [41:42<00:44,  2.45it/s]
 88%|████████▊ | 792/900 [41:42<00:42,  2.56it/s]
 88%|████████▊ | 793/900 [42:20<20:50, 11.68s/it]
 88%|████████▊ | 794/900 [42:21<14:38,  8.28s/it]
 88%|████████▊ | 795/900 [42:21<10:19,  5.90s/it]
 88%|████████▊ | 796/900 [42:21<07:22,  4.25s/it]
 89%|████████▊ | 797/900 [42:22<05:18,  3.09s/it]
 89%|████████▊ | 798/900 [42:22<03:51,  2.27s/it]
 89%|████████▉ | 799/900 [42:22<02:51,  1.69s/it]
 89%|████████▉ | 800/900 [42:23<02:08,  1.29s/it]
 89%|████████▉ | 801/900 [42:49<14:17,  8.67s/it]
 89%|████████▉ | 802/900 [42:49<10:05,  6.17s/it]
 89%|████████▉ | 803/900 [42:49<07:09,  4.42s/it]
 89%|████████▉ | 804/900 [42:50<05:07,  3.21s/it]
 89%|████████▉ | 805/900 [42:50<03:43,  2.35s/it]
 90%|████████▉ | 806/900 [42:50<02:45,  1.76s/it]
 90%|████████▉ | 807/900 [42:51<02:05,  1.35s/it]
 90%|████████▉ | 808/900 [42:51<01:37,  1.06s/it]
 90%|████████▉ | 809/900 [43:36<21:31, 14.19s/it]
 90%|█████████ | 810/900 [43:36<15:04, 10.05s/it]
 90%|█████████ | 811/900 [43:37<10:35,  7.14s/it]
 90%|█████████ | 812/900 [43:37<07:29,  5.11s/it]
 90%|█████████ | 813/900 [43:37<05:20,  3.68s/it]
 90%|█████████ | 814/900 [43:38<03:51,  2.69s/it]
 91%|█████████ | 815/900 [43:38<02:49,  1.99s/it]
 91%|█████████ | 816/900 [43:39<02:05,  1.50s/it]
 91%|█████████ | 817/900 [44:04<12:06,  8.76s/it]
 91%|█████████ | 818/900 [44:05<08:32,  6.24s/it]
 91%|█████████ | 819/900 [44:05<06:03,  4.49s/it]
 91%|█████████ | 820/900 [44:05<04:20,  3.25s/it]
 91%|█████████ | 821/900 [44:06<03:08,  2.38s/it]
 91%|█████████▏| 822/900 [44:06<02:18,  1.77s/it]
 91%|█████████▏| 823/900 [44:06<01:43,  1.35s/it]
 92%|█████████▏| 824/900 [44:07<01:19,  1.05s/it]
 92%|█████████▏| 824/900 [1:14:08<06:50,  5.40s/it]
+2026-11-03T19:10:55Z [4,528,365ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T19:10:59Z] GPU 5: ReorientRedMugTask/2: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T19:11:59Z] GPU 5: Starting worker at ReorientRedMugTask/2 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:5
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_191204.log
+2026-11-03T19:12:04Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T19:12:04Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T19:12:04Z [16ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T19:12:04Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T19:12:04Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T19:12:04Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T19:12:04Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T19:12:04Z [28ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T19:12:04Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T19:12:04Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T19:12:04Z [36ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T19:12:04Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T19:12:04Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T19:12:04Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T19:12:04Z [48ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T19:12:04Z [51ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T19:12:04Z [55ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T19:12:08Z [4,000ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:12:08Z [4,000ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:12:08Z [4,098ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T19:12:08Z [4,860ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:12:08Z [4,860ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:12:08Z [4,861ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 867591
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T19:12:10Z [6,876ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T19:12:10Z [6,876ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 908.74  21.44  21.61  21.81  19.95  22.23  21.72  22.41 
+     1  22.01 918.58  21.82  21.78  20.39  22.27  21.92  22.40 
+     2  22.13  22.07 920.74  21.96  20.24  22.27  21.71  22.53 
+     3  22.27  21.49  21.90 917.04  21.80  22.05  21.01  22.30 
+     4  19.30  18.33  18.58  18.22 921.90  17.44  16.91  16.41 
+     5  19.79  18.91  19.69  19.17  18.53 922.37  18.03  18.65 
+     6  18.87  18.51  17.81  18.15  17.07  17.18 920.20  17.12 
+     7  19.35  18.87  18.80  18.36  16.15  17.14  17.79 921.22 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  15.20  11.52  15.56  12.88  14.26  15.51  13.08 
+     1  13.82   1.42  12.03  15.61  11.29  11.39  14.83  12.07 
+     2  15.62  14.33   1.34  14.13  14.48  14.35  13.91  20.01 
+     3  13.79  12.30  14.96   1.42  11.26  11.85  13.59  11.82 
+     4  14.02  12.36  13.73  11.41   1.44  12.07  11.48  12.07 
+     5  11.51  20.55  11.86  14.01  16.57   1.45  11.34  11.36 
+     6  11.51  11.44  14.49  11.34  11.36  11.43   1.38  15.79 
+     7  14.32  12.50  11.83  15.62  12.78  17.96  11.59   1.43 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.32  10.52  10.12  10.11   9.04   8.86   8.72   8.82 
+     1  10.32   3.19   9.86   9.72   8.79   8.70   8.63   8.67 
+     2  10.18   9.78   3.31   9.97   8.95   8.94   8.83   8.60 
+     3  10.15   9.76   9.86   3.15   8.91   8.81   8.87   8.79 
+     4   9.02  10.88  11.50  11.64   3.22   9.62   9.81   9.37 
+     5  11.51  11.18  11.56  12.50  10.38   6.69  13.70  14.55 
+     6   9.13   8.85   8.99   8.70   7.86   7.84   2.60   8.01 
+     7   8.91   8.65   8.95   8.85   7.91   7.76   7.84   2.60 
+2026-11-03T19:12:13Z [9,567ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.2 GB/s.
+2026-11-03T19:12:13Z [9,567ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.6 us.
+2026-11-03T19:12:13Z [9,567ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T19:12:17Z [13,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:12:17Z [13,208ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:12:17Z [13,317ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:12:17Z [13,317ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:12:17Z [13,339ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:12:17Z [13,339ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:12:17Z [13,524ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:12:17Z [13,524ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:12:17Z [13,530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:12:17Z [13,530ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:12:17Z [13,535ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:12:17Z [13,535ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:12:18Z [14,416ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T19:12:21Z [17,634ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T19:12:31Z [27,477ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T19:12:32Z [28,618ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T19:12:45Z [41,416ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T19:12:45Z [41,419ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T19:12:46Z [41,915ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T19:12:49Z [45,464ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:12:49Z [45,466ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:12:49Z [45,468ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:12:49Z [45,487ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T19:12:49Z [45,501ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:12:49Z [45,501ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T19:13:04Z [60,092ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55fdfd84ace0>)
+
+2026-11-03T19:13:04Z [60,094ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55fdfd84ace0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab
+══════════════════════════════════════════════════════════════
+Loaded 8 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab.
+[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping.
+[RoboLab] Task `BlockStackingSpecifiedOrderTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T19:13:09Z [65,785ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.437792 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T19:13:14Z [70,504ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:13:14Z [70,505ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:13:14Z [70,580ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:13:14Z [70,580ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:13:14Z [70,589ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:13:14Z [70,598ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T19:13:14Z [70,781ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:13:14Z [70,803ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:13:17Z [73,813ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((75))' not available in the MDL representation.
+2026-11-03T19:13:17Z [73,813ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((75))' not available in the MDL representation.
+2026-11-03T19:13:19Z [75,541ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-03T19:13:19Z [75,542ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-03T19:13:19Z [75,567ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T19:13:19Z [75,567ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T19:13:19Z [75,583ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-03T19:13:19Z [75,583ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-03T19:13:20Z [75,930ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-11-03T19:13:20Z [75,930ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-11-03T19:13:20Z [75,988ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((223))' not available in the MDL representation.
+2026-11-03T19:13:20Z [75,988ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((223))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,578ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T19:13:22Z [78,847ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((75))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,847ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((75))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,852ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,853ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,854ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,854ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,855ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,855ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,858ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,858ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,860ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((223))' not available in the MDL representation.
+2026-11-03T19:13:22Z [78,860ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((223))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.727628 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientRedMugTask                            │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the red mug upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientRedMugTaskSceneEnvCfg                 │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `ReorientRedMugTask` run `0` already done. Skipping.
+[RoboLab] Task `ReorientRedMugTask` run `1` already done. Skipping.
+[RoboLab] Running ReorientRedMugTask_2: 'Put the red mug upright so that the opening is facing upwards.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:53<13:25:36, 53.77s/it]
  0%|          | 2/900 [00:54<5:34:13, 22.33s/it] 
  0%|          | 3/900 [00:54<3:03:33, 12.28s/it]
  0%|          | 4/900 [00:54<1:52:48,  7.55s/it]
  1%|          | 5/900 [00:55<1:13:43,  4.94s/it]
  1%|          | 6/900 [00:55<50:12,  3.37s/it]  
  1%|          | 7/900 [00:55<35:18,  2.37s/it]
  1%|          | 8/900 [00:55<25:32,  1.72s/it]
  1%|          | 9/900 [01:20<2:11:07,  8.83s/it]
  1%|          | 10/900 [01:20<1:31:58,  6.20s/it]
  1%|          | 11/900 [01:21<1:05:10,  4.40s/it]
  1%|▏         | 12/900 [01:21<46:42,  3.16s/it]  
  1%|▏         | 13/900 [01:21<33:55,  2.29s/it]
  2%|▏         | 14/900 [01:22<25:04,  1.70s/it]
  2%|▏         | 15/900 [01:22<18:54,  1.28s/it]
  2%|▏         | 16/900 [01:22<14:35,  1.01it/s]
  2%|▏         | 17/900 [01:35<1:08:50,  4.68s/it]
  2%|▏         | 18/900 [01:36<49:28,  3.37s/it]  
  2%|▏         | 19/900 [01:36<35:59,  2.45s/it]
  2%|▏         | 20/900 [01:36<26:34,  1.81s/it]
  2%|▏         | 21/900 [01:37<19:58,  1.36s/it]
  2%|▏         | 22/900 [01:37<15:21,  1.05s/it]
  3%|▎         | 23/900 [01:37<12:06,  1.21it/s]
  3%|▎         | 24/900 [01:38<09:49,  1.49it/s]
  3%|▎         | 25/900 [01:58<1:36:57,  6.65s/it]
  3%|▎         | 26/900 [01:59<1:09:10,  4.75s/it]
  3%|▎         | 27/900 [01:59<49:43,  3.42s/it]  
  3%|▎         | 28/900 [01:59<36:07,  2.49s/it]2026-11-03T19:15:24Z [200,118ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  3%|▎         | 29/900 [01:59<26:39,  1.84s/it]
  3%|▎         | 30/900 [02:00<20:01,  1.38s/it]
  3%|▎         | 31/900 [02:00<15:25,  1.06s/it]
  4%|▎         | 32/900 [02:00<12:14,  1.18it/s]
  4%|▎         | 33/900 [02:26<1:57:13,  8.11s/it]
  4%|▍         | 34/900 [02:26<1:23:25,  5.78s/it]
  4%|▍         | 35/900 [02:26<59:46,  4.15s/it]  
  4%|▍         | 36/900 [02:27<43:14,  3.00s/it]
  4%|▍         | 37/900 [02:27<31:42,  2.20s/it]
  4%|▍         | 38/900 [02:27<23:39,  1.65s/it]
  4%|▍         | 39/900 [02:28<18:00,  1.26s/it]
  4%|▍         | 40/900 [02:28<14:01,  1.02it/s]
  5%|▍         | 41/900 [02:42<1:10:33,  4.93s/it]
  5%|▍         | 42/900 [02:42<50:49,  3.55s/it]  
  5%|▍         | 43/900 [02:43<37:03,  2.59s/it]
  5%|▍         | 44/900 [02:43<27:22,  1.92s/it]
  5%|▌         | 45/900 [02:43<20:34,  1.44s/it]
  5%|▌         | 46/900 [02:44<15:51,  1.11s/it]
  5%|▌         | 47/900 [02:44<12:33,  1.13it/s]
  5%|▌         | 48/900 [02:44<10:15,  1.38it/s]
  5%|▌         | 49/900 [02:55<54:04,  3.81s/it]
  6%|▌         | 50/900 [02:56<39:16,  2.77s/it]
  6%|▌         | 51/900 [02:56<28:53,  2.04s/it]
  6%|▌         | 52/900 [02:56<21:38,  1.53s/it]
  6%|▌         | 53/900 [02:57<16:36,  1.18s/it]
  6%|▌         | 54/900 [02:57<13:01,  1.08it/s]
  6%|▌         | 55/900 [02:58<10:32,  1.34it/s]
  6%|▌         | 56/900 [02:58<08:48,  1.60it/s]
  6%|▋         | 57/900 [03:21<1:43:24,  7.36s/it]
  6%|▋         | 58/900 [03:21<1:13:43,  5.25s/it]
  7%|▋         | 59/900 [03:22<52:57,  3.78s/it]  
  7%|▋         | 60/900 [03:22<38:27,  2.75s/it]
  7%|▋         | 61/900 [03:22<28:19,  2.03s/it]
  7%|▋         | 62/900 [03:23<21:15,  1.52s/it]
  7%|▋         | 63/900 [03:23<16:17,  1.17s/it]
  7%|▋         | 64/900 [03:23<12:50,  1.08it/s]
  7%|▋         | 65/900 [03:37<1:06:10,  4.76s/it]
  7%|▋         | 66/900 [03:37<47:42,  3.43s/it]  
  7%|▋         | 67/900 [03:38<34:46,  2.50s/it]
  8%|▊         | 68/900 [03:38<25:44,  1.86s/it]
  8%|▊         | 69/900 [03:38<19:24,  1.40s/it]
  8%|▊         | 70/900 [03:39<14:55,  1.08s/it]
  8%|▊         | 71/900 [03:39<11:48,  1.17it/s]
  8%|▊         | 72/900 [03:39<09:41,  1.42it/s]
  8%|▊         | 73/900 [04:02<1:40:53,  7.32s/it]
  8%|▊         | 74/900 [04:03<1:12:00,  5.23s/it]
  8%|▊         | 75/900 [04:03<51:46,  3.77s/it]  
  8%|▊         | 76/900 [04:03<37:37,  2.74s/it]
  9%|▊         | 77/900 [04:04<27:41,  2.02s/it]
  9%|▊         | 78/900 [04:04<20:43,  1.51s/it]
  9%|▉         | 79/900 [04:04<15:46,  1.15s/it]
  9%|▉         | 80/900 [04:05<12:20,  1.11it/s]
  9%|▉         | 81/900 [04:21<1:14:59,  5.49s/it]
  9%|▉         | 82/900 [04:21<53:45,  3.94s/it]  
  9%|▉         | 83/900 [04:21<38:54,  2.86s/it]
  9%|▉         | 84/900 [04:22<28:30,  2.10s/it]
  9%|▉         | 85/900 [04:22<21:13,  1.56s/it]
 10%|▉         | 86/900 [04:22<16:11,  1.19s/it]
 10%|▉         | 87/900 [04:23<12:38,  1.07it/s]
 10%|▉         | 88/900 [04:23<10:07,  1.34it/s]
 10%|▉         | 89/900 [04:34<53:35,  3.96s/it]
 10%|█         | 90/900 [04:35<38:46,  2.87s/it]
 10%|█         | 91/900 [04:35<28:23,  2.11s/it]
 10%|█         | 92/900 [04:35<21:10,  1.57s/it]
 10%|█         | 93/900 [04:36<16:01,  1.19s/it]
 10%|█         | 94/900 [04:36<12:26,  1.08it/s]
 11%|█         | 95/900 [04:36<09:59,  1.34it/s]
 11%|█         | 96/900 [04:37<08:13,  1.63it/s]
 11%|█         | 97/900 [05:08<2:12:14,  9.88s/it]
 11%|█         | 98/900 [05:08<1:33:46,  7.02s/it]
 11%|█         | 99/900 [05:09<1:06:50,  5.01s/it]
 11%|█         | 100/900 [05:09<48:00,  3.60s/it] 
 11%|█         | 101/900 [05:09<34:49,  2.62s/it]
 11%|█▏        | 102/900 [05:10<25:35,  1.92s/it]
 11%|█▏        | 103/900 [05:10<19:11,  1.44s/it]
 12%|█▏        | 104/900 [05:10<14:40,  1.11s/it]
 12%|█▏        | 105/900 [05:47<2:34:06, 11.63s/it]
 12%|█▏        | 106/900 [05:47<1:49:04,  8.24s/it]
 12%|█▏        | 107/900 [05:47<1:17:38,  5.87s/it]
 12%|█▏        | 108/900 [05:48<55:34,  4.21s/it]  
 12%|█▏        | 109/900 [05:48<40:06,  3.04s/it]
 12%|█▏        | 110/900 [05:48<29:20,  2.23s/it]
 12%|█▏        | 111/900 [05:49<21:47,  1.66s/it]
 12%|█▏        | 112/900 [05:49<16:33,  1.26s/it]
 13%|█▎        | 113/900 [06:16<2:00:09,  9.16s/it]
 13%|█▎        | 114/900 [06:17<1:25:20,  6.51s/it]
 13%|█▎        | 115/900 [06:17<1:00:58,  4.66s/it]
 13%|█▎        | 116/900 [06:18<43:56,  3.36s/it]  
 13%|█▎        | 117/900 [06:18<32:03,  2.46s/it]
 13%|█▎        | 118/900 [06:18<23:43,  1.82s/it]
 13%|█▎        | 119/900 [06:19<17:54,  1.38s/it]
 13%|█▎        | 120/900 [06:19<13:49,  1.06s/it]
 13%|█▎        | 121/900 [07:41<5:28:51, 25.33s/it]
 14%|█▎        | 122/900 [07:41<3:51:12, 17.83s/it]
 14%|█▎        | 123/900 [07:41<2:42:53, 12.58s/it]
 14%|█▍        | 124/900 [07:42<1:55:04,  8.90s/it]
 14%|█▍        | 125/900 [07:42<1:21:39,  6.32s/it]
 14%|█▍        | 126/900 [07:42<58:19,  4.52s/it]  
 14%|█▍        | 127/900 [07:43<42:01,  3.26s/it]
 14%|█▍        | 128/900 [07:43<30:37,  2.38s/it]
 14%|█▍        | 129/900 [08:13<2:15:05, 10.51s/it]
 14%|█▍        | 130/900 [08:13<1:35:43,  7.46s/it]
 15%|█▍        | 131/900 [08:13<1:08:10,  5.32s/it]
 15%|█▍        | 132/900 [08:14<48:55,  3.82s/it]  
 15%|█▍        | 133/900 [08:14<35:25,  2.77s/it]
 15%|█▍        | 134/900 [08:14<26:02,  2.04s/it]
 15%|█▌        | 135/900 [08:15<19:29,  1.53s/it]
 15%|█▌        | 136/900 [08:15<14:50,  1.17s/it]
 15%|█▌        | 137/900 [08:35<1:25:29,  6.72s/it]
 15%|█▌        | 138/900 [08:35<1:00:58,  4.80s/it]
 15%|█▌        | 139/900 [08:35<43:48,  3.45s/it]  
 16%|█▌        | 140/900 [08:35<31:50,  2.51s/it]
 16%|█▌        | 141/900 [08:36<23:28,  1.86s/it]
 16%|█▌        | 142/900 [08:36<17:36,  1.39s/it]
 16%|█▌        | 143/900 [08:36<13:30,  1.07s/it]
 16%|█▌        | 144/900 [08:37<10:40,  1.18it/s]
 16%|█▌        | 145/900 [08:52<1:06:53,  5.32s/it]
 16%|█▌        | 146/900 [08:53<47:56,  3.82s/it]  
 16%|█▋        | 147/900 [08:53<34:44,  2.77s/it]
 16%|█▋        | 148/900 [08:53<25:30,  2.03s/it]
 17%|█▋        | 149/900 [08:54<19:00,  1.52s/it]
 17%|█▋        | 150/900 [08:54<14:28,  1.16s/it]
 17%|█▋        | 151/900 [08:54<11:25,  1.09it/s]
 17%|█▋        | 152/900 [08:55<09:15,  1.35it/s]
 17%|█▋        | 153/900 [09:19<1:36:00,  7.71s/it]
 17%|█▋        | 154/900 [09:19<1:08:23,  5.50s/it]
 17%|█▋        | 155/900 [09:19<49:05,  3.95s/it]  
 17%|█▋        | 156/900 [09:20<35:34,  2.87s/it]
 17%|█▋        | 157/900 [09:20<26:10,  2.11s/it]
 18%|█▊        | 158/900 [09:20<19:32,  1.58s/it]
 18%|█▊        | 159/900 [09:21<14:54,  1.21s/it]
 18%|█▊        | 160/900 [09:21<11:39,  1.06it/s]
 18%|█▊        | 161/900 [09:47<1:41:55,  8.28s/it]
 18%|█▊        | 162/900 [09:47<1:12:28,  5.89s/it]
 18%|█▊        | 163/900 [09:47<51:54,  4.23s/it]  
 18%|█▊        | 164/900 [09:48<37:29,  3.06s/it]
 18%|█▊        | 165/900 [09:48<27:25,  2.24s/it]
 18%|█▊        | 166/900 [09:48<20:23,  1.67s/it]
 19%|█▊        | 167/900 [09:49<15:27,  1.27s/it]
 19%|█▊        | 168/900 [09:49<12:03,  1.01it/s]
 19%|█▉        | 169/900 [12:04<8:23:59, 41.37s/it]
 19%|█▉        | 170/900 [12:05<5:53:33, 29.06s/it]
 19%|█▉        | 171/900 [12:05<4:08:23, 20.44s/it]
 19%|█▉        | 172/900 [12:05<2:54:52, 14.41s/it]
 19%|█▉        | 173/900 [12:06<2:03:32, 10.20s/it]
 19%|█▉        | 174/900 [12:06<1:27:37,  7.24s/it]
 19%|█▉        | 175/900 [12:06<1:02:27,  5.17s/it]
 20%|█▉        | 176/900 [12:07<44:50,  3.72s/it]  
 20%|█▉        | 177/900 [12:38<2:22:15, 11.81s/it]
 20%|█▉        | 178/900 [12:38<1:40:40,  8.37s/it]
 20%|█▉        | 179/900 [12:38<1:11:32,  5.95s/it]
 20%|██        | 180/900 [12:38<51:11,  4.27s/it]  
 20%|██        | 181/900 [12:39<36:58,  3.09s/it]
 20%|██        | 182/900 [12:39<26:59,  2.26s/it]
 20%|██        | 183/900 [12:39<20:02,  1.68s/it]
 20%|██        | 184/900 [12:40<15:08,  1.27s/it]
 21%|██        | 185/900 [13:08<1:49:44,  9.21s/it]
 21%|██        | 186/900 [13:08<1:17:55,  6.55s/it]
 21%|██        | 187/900 [13:08<55:38,  4.68s/it]  
 21%|██        | 188/900 [13:09<40:04,  3.38s/it]
 21%|██        | 189/900 [13:09<29:07,  2.46s/it]
 21%|██        | 190/900 [13:09<21:30,  1.82s/it]
 21%|██        | 191/900 [13:09<16:09,  1.37s/it]
 21%|██▏       | 192/900 [13:10<12:26,  1.05s/it]
 21%|██▏       | 193/900 [13:26<1:04:32,  5.48s/it]
 22%|██▏       | 194/900 [13:26<46:19,  3.94s/it]  
 22%|██▏       | 195/900 [13:26<33:35,  2.86s/it]
 22%|██▏       | 196/900 [13:27<24:40,  2.10s/it]
 22%|██▏       | 197/900 [13:27<18:25,  1.57s/it]
 22%|██▏       | 198/900 [13:27<14:03,  1.20s/it]
 22%|██▏       | 199/900 [13:28<10:58,  1.06it/s]
 22%|██▏       | 200/900 [13:28<08:49,  1.32it/s]
 22%|██▏       | 201/900 [13:49<1:19:34,  6.83s/it]
 22%|██▏       | 202/900 [13:49<56:49,  4.88s/it]  
 23%|██▎       | 203/900 [13:50<40:53,  3.52s/it]
 23%|██▎       | 204/900 [13:50<29:42,  2.56s/it]
 23%|██▎       | 205/900 [13:50<21:51,  1.89s/it]
 23%|██▎       | 206/900 [13:51<16:22,  1.42s/it]
 23%|██▎       | 207/900 [13:51<12:30,  1.08s/it]
 23%|██▎       | 208/900 [13:51<09:50,  1.17it/s]
 23%|██▎       | 209/900 [14:19<1:41:35,  8.82s/it]
 23%|██▎       | 210/900 [14:19<1:12:12,  6.28s/it]
 23%|██▎       | 211/900 [14:19<51:40,  4.50s/it]  
 24%|██▎       | 212/900 [14:20<37:18,  3.25s/it]
 24%|██▎       | 213/900 [14:20<27:16,  2.38s/it]
 24%|██▍       | 214/900 [14:20<20:13,  1.77s/it]
 24%|██▍       | 215/900 [14:21<15:18,  1.34s/it]
 24%|██▍       | 216/900 [14:21<11:52,  1.04s/it]
 24%|██▍       | 217/900 [15:08<2:48:15, 14.78s/it]
 24%|██▍       | 218/900 [15:08<1:58:43, 10.44s/it]
 24%|██▍       | 219/900 [15:09<1:24:02,  7.40s/it]
 24%|██▍       | 220/900 [15:09<59:48,  5.28s/it]  
 25%|██▍       | 221/900 [15:09<42:52,  3.79s/it]
 25%|██▍       | 222/900 [15:09<31:01,  2.75s/it]
 25%|██▍       | 223/900 [15:10<22:45,  2.02s/it]
 25%|██▍       | 224/900 [15:10<17:02,  1.51s/it]
 25%|██▌       | 225/900 [16:04<3:12:16, 17.09s/it]
 25%|██▌       | 226/900 [16:04<2:15:27, 12.06s/it]
 25%|██▌       | 227/900 [16:04<1:35:44,  8.54s/it]
 25%|██▌       | 228/900 [16:04<1:07:57,  6.07s/it]
 25%|██▌       | 229/900 [16:05<48:34,  4.34s/it]  
 26%|██▌       | 230/900 [16:05<35:00,  3.13s/it]
 26%|██▌       | 231/900 [16:05<25:32,  2.29s/it]
 26%|██▌       | 232/900 [16:06<18:54,  1.70s/it]
 26%|██▌       | 233/900 [16:21<1:03:19,  5.70s/it]
 26%|██▌       | 234/900 [16:21<45:18,  4.08s/it]  
 26%|██▌       | 235/900 [16:21<32:42,  2.95s/it]
 26%|██▌       | 236/900 [16:22<23:53,  2.16s/it]
 26%|██▋       | 237/900 [16:22<17:44,  1.61s/it]
 26%|██▋       | 238/900 [16:22<13:31,  1.23s/it]
 27%|██▋       | 239/900 [16:23<10:32,  1.05it/s]
 27%|██▋       | 240/900 [16:23<08:27,  1.30it/s]
 27%|██▋       | 241/900 [16:38<54:19,  4.95s/it]
 27%|██▋       | 242/900 [16:38<39:05,  3.57s/it]
 27%|██▋       | 243/900 [16:38<28:29,  2.60s/it]
 27%|██▋       | 244/900 [16:39<21:04,  1.93s/it]
 27%|██▋       | 245/900 [16:39<15:57,  1.46s/it]
 27%|██▋       | 246/900 [16:39<12:15,  1.12s/it]
 27%|██▋       | 247/900 [16:40<09:40,  1.13it/s]
 28%|██▊       | 248/900 [16:40<07:54,  1.38it/s]
 28%|██▊       | 249/900 [16:56<55:39,  5.13s/it]
 28%|██▊       | 250/900 [16:56<40:04,  3.70s/it]
 28%|██▊       | 251/900 [16:56<29:05,  2.69s/it]
 28%|██▊       | 252/900 [16:57<21:31,  1.99s/it]
 28%|██▊       | 253/900 [16:57<16:08,  1.50s/it]
 28%|██▊       | 254/900 [16:57<12:25,  1.15s/it]
 28%|██▊       | 255/900 [16:58<09:47,  1.10it/s]
 28%|██▊       | 256/900 [16:58<07:57,  1.35it/s]
 29%|██▊       | 257/900 [17:19<1:13:01,  6.81s/it]
 29%|██▊       | 258/900 [17:19<52:11,  4.88s/it]  
 29%|██▉       | 259/900 [17:20<37:34,  3.52s/it]
 29%|██▉       | 260/900 [17:20<27:24,  2.57s/it]
 29%|██▉       | 261/900 [17:20<20:14,  1.90s/it]
 29%|██▉       | 262/900 [17:21<15:14,  1.43s/it]
 29%|██▉       | 263/900 [17:21<11:42,  1.10s/it]
 29%|██▉       | 264/900 [17:21<09:16,  1.14it/s]
 29%|██▉       | 265/900 [17:39<1:02:33,  5.91s/it]
 30%|██▉       | 266/900 [17:39<44:47,  4.24s/it]  
 30%|██▉       | 267/900 [17:40<32:19,  3.06s/it]
 30%|██▉       | 268/900 [17:40<23:35,  2.24s/it]
 30%|██▉       | 269/900 [17:40<17:31,  1.67s/it]
 30%|███       | 270/900 [17:41<13:17,  1.27s/it]
 30%|███       | 271/900 [17:41<10:15,  1.02it/s]
 30%|███       | 272/900 [17:41<08:10,  1.28it/s]
 30%|███       | 273/900 [18:03<1:12:32,  6.94s/it]
 30%|███       | 274/900 [18:03<51:44,  4.96s/it]  
 31%|███       | 275/900 [18:03<37:09,  3.57s/it]
 31%|███       | 276/900 [18:04<26:58,  2.59s/it]
 31%|███       | 277/900 [18:04<19:51,  1.91s/it]
 31%|███       | 278/900 [18:04<14:52,  1.44s/it]
 31%|███       | 279/900 [18:05<11:22,  1.10s/it]
 31%|███       | 280/900 [18:05<08:54,  1.16it/s]
 31%|███       | 281/900 [18:35<1:40:23,  9.73s/it]
 31%|███▏      | 282/900 [18:36<1:11:10,  6.91s/it]
 31%|███▏      | 283/900 [18:36<50:41,  4.93s/it]  
 32%|███▏      | 284/900 [18:36<36:23,  3.54s/it]
 32%|███▏      | 285/900 [18:37<26:22,  2.57s/it]
 32%|███▏      | 286/900 [18:37<19:22,  1.89s/it]
 32%|███▏      | 287/900 [18:37<14:29,  1.42s/it]
 32%|███▏      | 288/900 [18:38<11:04,  1.09s/it]
 32%|███▏      | 289/900 [19:08<1:41:55, 10.01s/it]
 32%|███▏      | 290/900 [19:09<1:12:09,  7.10s/it]
 32%|███▏      | 291/900 [19:09<51:21,  5.06s/it]  
 32%|███▏      | 292/900 [19:09<36:50,  3.64s/it]
 33%|███▎      | 293/900 [19:10<26:39,  2.63s/it]
 33%|███▎      | 294/900 [19:10<19:33,  1.94s/it]
 33%|███▎      | 295/900 [19:10<14:35,  1.45s/it]
 33%|███▎      | 296/900 [19:11<11:07,  1.10s/it]
 33%|███▎      | 297/900 [19:32<1:12:34,  7.22s/it]
 33%|███▎      | 298/900 [19:32<51:39,  5.15s/it]  
 33%|███▎      | 299/900 [19:33<37:02,  3.70s/it]
 33%|███▎      | 300/900 [19:33<26:48,  2.68s/it]
 33%|███▎      | 301/900 [19:33<19:40,  1.97s/it]
 34%|███▎      | 302/900 [19:34<14:42,  1.48s/it]
 34%|███▎      | 303/900 [19:34<11:12,  1.13s/it]
 34%|███▍      | 304/900 [19:34<08:47,  1.13it/s]
 34%|███▍      | 305/900 [20:06<1:42:11, 10.30s/it]
 34%|███▍      | 306/900 [20:07<1:12:20,  7.31s/it]
 34%|███▍      | 307/900 [20:07<51:28,  5.21s/it]  
 34%|███▍      | 308/900 [20:07<36:55,  3.74s/it]
 34%|███▍      | 309/900 [20:08<26:43,  2.71s/it]
 34%|███▍      | 310/900 [20:08<19:36,  1.99s/it]
 35%|███▍      | 311/900 [20:08<14:41,  1.50s/it]
 35%|███▍      | 312/900 [20:09<11:13,  1.15s/it]
 35%|███▍      | 313/900 [20:48<2:04:24, 12.72s/it]
 35%|███▍      | 314/900 [20:49<1:28:33,  9.07s/it]
 35%|███▌      | 315/900 [20:49<1:02:47,  6.44s/it]
 35%|███▌      | 316/900 [20:50<44:47,  4.60s/it]  
 35%|███▌      | 317/900 [20:50<32:12,  3.31s/it]
 35%|███▌      | 318/900 [20:50<23:24,  2.41s/it]
 35%|███▌      | 319/900 [20:51<17:15,  1.78s/it]
 36%|███▌      | 320/900 [20:51<12:57,  1.34s/it]
 36%|███▌      | 321/900 [21:14<1:16:13,  7.90s/it]
 36%|███▌      | 322/900 [21:14<54:11,  5.63s/it]  
 36%|███▌      | 323/900 [21:15<38:46,  4.03s/it]
 36%|███▌      | 324/900 [21:15<27:59,  2.92s/it]
 36%|███▌      | 325/900 [21:15<20:30,  2.14s/it]
 36%|███▌      | 326/900 [21:16<15:16,  1.60s/it]
 36%|███▋      | 327/900 [21:16<11:38,  1.22s/it]
 36%|███▋      | 328/900 [21:16<09:05,  1.05it/s]
 37%|███▋      | 329/900 [21:46<1:32:21,  9.71s/it]
 37%|███▋      | 330/900 [21:47<1:05:31,  6.90s/it]
 37%|███▋      | 331/900 [21:47<46:42,  4.93s/it]  
 37%|███▋      | 332/900 [21:47<33:34,  3.55s/it]
 37%|███▋      | 333/900 [21:48<24:20,  2.58s/it]
 37%|███▋      | 334/900 [21:48<17:54,  1.90s/it]
 37%|███▋      | 335/900 [21:48<13:24,  1.42s/it]
 37%|███▋      | 336/900 [21:49<10:16,  1.09s/it]
 37%|███▋      | 337/900 [22:10<1:06:58,  7.14s/it]
 38%|███▊      | 338/900 [22:10<47:41,  5.09s/it]  
 38%|███▊      | 339/900 [22:11<34:14,  3.66s/it]
 38%|███▊      | 340/900 [22:11<24:50,  2.66s/it]
 38%|███▊      | 341/900 [22:11<18:17,  1.96s/it]
 38%|███▊      | 342/900 [22:12<13:43,  1.48s/it]
 38%|███▊      | 343/900 [22:12<10:30,  1.13s/it]
 38%|███▊      | 344/900 [22:12<08:17,  1.12it/s]
 38%|███▊      | 345/900 [23:13<2:54:38, 18.88s/it]
 38%|███▊      | 346/900 [23:13<2:02:58, 13.32s/it]
 39%|███▊      | 347/900 [23:14<1:26:51,  9.42s/it]
 39%|███▊      | 348/900 [23:14<1:01:37,  6.70s/it]
 39%|███▉      | 349/900 [23:14<43:59,  4.79s/it]  
 39%|███▉      | 350/900 [23:15<31:39,  3.45s/it]
 39%|███▉      | 351/900 [23:15<23:02,  2.52s/it]
 39%|███▉      | 352/900 [23:15<17:01,  1.86s/it]
 39%|███▉      | 353/900 [23:36<1:06:53,  7.34s/it]
 39%|███▉      | 354/900 [23:36<47:38,  5.24s/it]  
 39%|███▉      | 355/900 [23:36<34:11,  3.76s/it]
 40%|███▉      | 356/900 [23:37<24:47,  2.73s/it]
 40%|███▉      | 357/900 [23:37<18:14,  2.02s/it]
 40%|███▉      | 358/900 [23:37<13:39,  1.51s/it]
 40%|███▉      | 359/900 [23:38<10:27,  1.16s/it]
 40%|████      | 360/900 [23:38<08:11,  1.10it/s]
 40%|████      | 361/900 [24:24<2:10:49, 14.56s/it]
 40%|████      | 362/900 [24:25<1:32:19, 10.30s/it]
 40%|████      | 363/900 [24:25<1:05:29,  7.32s/it]
 40%|████      | 364/900 [24:25<46:40,  5.22s/it]  
 41%|████      | 365/900 [24:26<33:32,  3.76s/it]
 41%|████      | 366/900 [24:26<24:16,  2.73s/it]
 41%|████      | 367/900 [24:26<17:48,  2.00s/it]
 41%|████      | 368/900 [24:27<13:19,  1.50s/it]
 41%|████      | 369/900 [25:04<1:49:02, 12.32s/it]
 41%|████      | 370/900 [25:05<1:17:02,  8.72s/it]
 41%|████      | 371/900 [25:05<54:41,  6.20s/it]  
 41%|████▏     | 372/900 [25:05<39:02,  4.44s/it]
 41%|████▏     | 373/900 [25:06<28:06,  3.20s/it]
 42%|████▏     | 374/900 [25:06<20:30,  2.34s/it]
 42%|████▏     | 375/900 [25:06<15:11,  1.74s/it]
 42%|████▏     | 376/900 [25:07<11:25,  1.31s/it]
 42%|████▏     | 377/900 [25:44<1:47:03, 12.28s/it]
 42%|████▏     | 378/900 [25:45<1:15:37,  8.69s/it]
 42%|████▏     | 379/900 [25:45<53:40,  6.18s/it]  
 42%|████▏     | 380/900 [25:45<38:19,  4.42s/it]
 42%|████▏     | 381/900 [25:46<27:35,  3.19s/it]
 42%|████▏     | 382/900 [25:46<20:05,  2.33s/it]
 43%|████▎     | 383/900 [25:46<14:50,  1.72s/it]
 43%|████▎     | 384/900 [25:47<11:09,  1.30s/it]
 43%|████▎     | 385/900 [26:10<1:06:49,  7.79s/it]
 43%|████▎     | 386/900 [26:10<47:34,  5.55s/it]  
 43%|████▎     | 387/900 [26:10<34:05,  3.99s/it]
 43%|████▎     | 388/900 [26:11<24:38,  2.89s/it]
 43%|████▎     | 389/900 [26:11<18:04,  2.12s/it]
 43%|████▎     | 390/900 [26:11<13:28,  1.58s/it]
 43%|████▎     | 391/900 [26:12<10:11,  1.20s/it]
 44%|████▎     | 392/900 [26:12<07:54,  1.07it/s]
 44%|████▎     | 393/900 [26:45<1:30:38, 10.73s/it]
 44%|████▍     | 394/900 [26:46<1:04:07,  7.60s/it]
 44%|████▍     | 395/900 [26:46<45:38,  5.42s/it]  
 44%|████▍     | 396/900 [26:46<32:39,  3.89s/it]
 44%|████▍     | 397/900 [26:47<23:36,  2.82s/it]
 44%|████▍     | 398/900 [26:47<17:16,  2.07s/it]
 44%|████▍     | 399/900 [26:47<12:51,  1.54s/it]
 44%|████▍     | 400/900 [26:48<09:45,  1.17s/it]
 45%|████▍     | 401/900 [27:15<1:16:12,  9.16s/it]
 45%|████▍     | 402/900 [27:16<54:00,  6.51s/it]  
 45%|████▍     | 403/900 [27:16<38:30,  4.65s/it]
 45%|████▍     | 404/900 [27:16<27:38,  3.34s/it]
 45%|████▌     | 405/900 [27:17<20:05,  2.43s/it]
 45%|████▌     | 406/900 [27:17<14:46,  1.79s/it]
 45%|████▌     | 407/900 [27:17<11:05,  1.35s/it]
 45%|████▌     | 408/900 [27:18<08:31,  1.04s/it]
 45%|████▌     | 409/900 [27:46<1:15:29,  9.23s/it]
 46%|████▌     | 410/900 [27:46<53:31,  6.55s/it]  
 46%|████▌     | 411/900 [27:47<38:09,  4.68s/it]
 46%|████▌     | 412/900 [27:47<27:24,  3.37s/it]
 46%|████▌     | 413/900 [27:47<19:54,  2.45s/it]
 46%|████▌     | 414/900 [27:47<14:42,  1.82s/it]
 46%|████▌     | 415/900 [27:48<11:04,  1.37s/it]
 46%|████▌     | 416/900 [27:48<08:32,  1.06s/it]
 46%|████▋     | 417/900 [28:16<1:14:18,  9.23s/it]
 46%|████▋     | 418/900 [28:17<52:41,  6.56s/it]  
 47%|████▋     | 419/900 [28:17<37:34,  4.69s/it]
 47%|████▋     | 420/900 [28:17<26:59,  3.37s/it]
 47%|████▋     | 421/900 [28:18<19:35,  2.46s/it]
 47%|████▋     | 422/900 [28:18<14:26,  1.81s/it]
 47%|████▋     | 423/900 [28:18<10:49,  1.36s/it]
 47%|████▋     | 424/900 [28:19<08:16,  1.04s/it]
 47%|████▋     | 425/900 [28:57<1:36:04, 12.14s/it]
 47%|████▋     | 426/900 [28:57<1:07:50,  8.59s/it]
 47%|████▋     | 427/900 [28:57<48:07,  6.10s/it]  
 48%|████▊     | 428/900 [28:58<34:20,  4.37s/it]
 48%|████▊     | 429/900 [28:58<24:42,  3.15s/it]
 48%|████▊     | 430/900 [28:58<17:59,  2.30s/it]
 48%|████▊     | 431/900 [28:59<13:18,  1.70s/it]
 48%|████▊     | 432/900 [28:59<10:00,  1.28s/it]
 48%|████▊     | 433/900 [29:32<1:23:58, 10.79s/it]
 48%|████▊     | 434/900 [29:32<59:26,  7.65s/it]  
 48%|████▊     | 435/900 [29:32<42:18,  5.46s/it]
 48%|████▊     | 436/900 [29:33<30:19,  3.92s/it]
 49%|████▊     | 437/900 [29:33<21:58,  2.85s/it]
 49%|████▊     | 438/900 [29:33<16:07,  2.09s/it]
 49%|████▉     | 439/900 [29:34<12:02,  1.57s/it]
 49%|████▉     | 440/900 [29:34<09:10,  1.20s/it]
 49%|████▉     | 441/900 [30:07<1:21:46, 10.69s/it]
 49%|████▉     | 442/900 [30:07<57:53,  7.58s/it]  
 49%|████▉     | 443/900 [30:08<41:12,  5.41s/it]
 49%|████▉     | 444/900 [30:08<29:32,  3.89s/it]
 49%|████▉     | 445/900 [30:08<21:23,  2.82s/it]
 50%|████▉     | 446/900 [30:09<15:43,  2.08s/it]
 50%|████▉     | 447/900 [30:09<11:45,  1.56s/it]
 50%|████▉     | 448/900 [30:09<08:58,  1.19s/it]
 50%|████▉     | 449/900 [31:07<2:16:59, 18.22s/it]
 50%|█████     | 450/900 [31:08<1:36:26, 12.86s/it]
 50%|█████     | 451/900 [31:08<1:08:06,  9.10s/it]
 50%|█████     | 452/900 [31:08<48:20,  6.48s/it]  
 50%|█████     | 453/900 [31:09<34:32,  4.64s/it]
 50%|█████     | 454/900 [31:09<24:52,  3.35s/it]
 51%|█████     | 455/900 [31:09<18:10,  2.45s/it]
 51%|█████     | 456/900 [31:10<13:29,  1.82s/it]
 51%|█████     | 456/900 [1:01:11<59:34,  8.05s/it]
+2026-11-03T20:14:35Z [3,751,534ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T20:14:39Z] GPU 5: ReorientRedMugTask/2: client exited (status=0) with incomplete results; retry 3/10 in 120s
+[2026-11-03T20:16:39Z] GPU 5: Starting worker at ReorientRedMugTask/2 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:5
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_201643.log
+2026-11-03T20:16:43Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T20:16:43Z [16ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T20:16:43Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T20:16:43Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T20:16:43Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T20:16:43Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T20:16:43Z [30ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T20:16:43Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T20:16:43Z [38ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T20:16:43Z [42ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T20:16:43Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T20:16:43Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T20:16:43Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T20:16:43Z [52ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T20:16:43Z [55ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T20:16:43Z [58ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T20:16:43Z [60ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T20:16:47Z [3,569ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:16:47Z [3,570ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:16:47Z [3,650ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T20:16:48Z [4,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:16:48Z [4,402ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:16:48Z [4,403ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 862026
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T20:16:50Z [6,630ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T20:16:50Z [6,631ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 918.11  21.96  21.96  21.99  20.01  20.93  20.61  21.86 
+     1  22.09 918.04  21.85  22.08  20.12  22.51  21.76  22.23 
+     2  22.01  21.67 919.66  22.51  20.35  22.37  21.84  22.20 
+     3  22.32  21.45  22.22 918.04  19.99  22.49  21.72  22.41 
+     4  19.46  18.68  18.34  18.78 922.37  17.56  17.86  16.56 
+     5  20.41  19.64  19.76  19.10  19.03 920.61  19.07  18.34 
+     6  19.39  18.30  18.65  18.14  17.80  17.53 918.75  17.65 
+     7  19.44  19.62  19.47  19.62  17.57  18.30  18.94 920.20 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  14.71  15.40  12.15  13.66  14.46  14.38  13.17 
+     1  10.58   1.42  15.33  11.01  13.94  15.43  14.37  11.91 
+     2  10.49  13.18   1.34  11.08  15.62  15.33  14.42  13.38 
+     3  13.47  15.89  15.51   1.45  15.92  13.90  13.78  12.89 
+     4  12.67  12.20  13.45  11.72   1.47  11.30  12.13  11.55 
+     5  14.95  11.74  11.96  11.70  11.75   1.46  11.64  11.49 
+     6  12.49  11.73  12.36  11.37  11.44  11.61   1.36  11.59 
+     7  13.30  11.34  12.12  12.11  20.55  12.10  14.87   1.43 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.61   7.01   6.89   6.77   8.50   8.43   8.48   8.43 
+     1   7.03   2.29   6.94   6.71   8.46   8.28   8.43   8.25 
+     2   6.84   6.78   2.23   6.96   8.43   8.15   8.51   8.37 
+     3   6.80   6.64   6.63   2.23   8.45   8.33   8.59   8.29 
+     4   7.91   7.89   7.76   8.15   2.79   9.44   9.54   9.46 
+     5   9.90   7.79   7.73   7.74   9.88   2.81   9.53   9.66 
+     6   7.87   7.95   7.90   7.84   9.65   9.74   2.83   9.49 
+     7   7.92   7.78   7.58   7.65   9.50   9.61   9.54   2.87 
+2026-11-03T20:16:52Z [9,286ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.6 GB/s.
+2026-11-03T20:16:52Z [9,286ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.6 us.
+2026-11-03T20:16:52Z [9,286ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T20:16:56Z [12,588ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:16:56Z [12,589ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:16:56Z [12,679ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:16:56Z [12,679ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:16:56Z [12,690ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:16:56Z [12,690ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:16:56Z [12,873ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:16:56Z [12,874ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:16:56Z [12,879ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:16:56Z [12,879ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:16:56Z [12,886ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:16:56Z [12,886ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:16:57Z [13,797ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T20:17:00Z [17,015ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T20:17:10Z [26,910ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T20:17:11Z [28,274ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T20:17:25Z [41,444ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T20:17:25Z [41,447ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T20:17:25Z [41,930ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T20:17:28Z [45,027ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:17:28Z [45,028ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:17:28Z [45,031ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:17:28Z [45,055ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T20:17:28Z [45,091ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:17:28Z [45,091ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T20:17:44Z [60,588ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55b45e218f80>)
+
+2026-11-03T20:17:44Z [60,590ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55b45e218f80>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab
+══════════════════════════════════════════════════════════════
+Loaded 8 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab.
+[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping.
+[RoboLab] Task `BlockStackingSpecifiedOrderTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T20:17:50Z [66,304ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.556997 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T20:17:54Z [71,187ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:17:54Z [71,188ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:17:54Z [71,259ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:17:54Z [71,259ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:17:54Z [71,267ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:17:54Z [71,274ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T20:17:55Z [71,447ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:17:55Z [71,467ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:17:58Z [75,070ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-03T20:17:58Z [75,071ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-03T20:17:58Z [75,109ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T20:17:58Z [75,109ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T20:17:59Z [75,331ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-11-03T20:17:59Z [75,331ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-11-03T20:17:59Z [75,362ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-03T20:17:59Z [75,362ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-03T20:17:59Z [75,627ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((174))' not available in the MDL representation.
+2026-11-03T20:17:59Z [75,627ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((174))' not available in the MDL representation.
+2026-11-03T20:18:01Z [77,571ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-11-03T20:18:01Z [77,571ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-11-03T20:18:02Z [79,236ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T20:18:03Z [79,568ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,568ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,569ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,569ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,570ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,570ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,571ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,571ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,573ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((174))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,573ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((174))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,576ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-11-03T20:18:03Z [79,576ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.789258 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientRedMugTask                            │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the red mug upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientRedMugTaskSceneEnvCfg                 │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `ReorientRedMugTask` run `0` already done. Skipping.
+[RoboLab] Task `ReorientRedMugTask` run `1` already done. Skipping.
+[RoboLab] Running ReorientRedMugTask_2: 'Put the red mug upright so that the opening is facing upwards.' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:57<14:15:24, 57.09s/it]
  0%|          | 2/900 [00:57<5:54:42, 23.70s/it] 
  0%|          | 3/900 [00:57<3:14:48, 13.03s/it]
  0%|          | 4/900 [00:58<1:59:43,  8.02s/it]
  1%|          | 5/900 [00:58<1:18:10,  5.24s/it]
  1%|          | 6/900 [00:58<53:07,  3.57s/it]  
  1%|          | 7/900 [00:59<37:16,  2.50s/it]
  1%|          | 8/900 [00:59<26:51,  1.81s/it]
  1%|          | 9/900 [01:11<1:16:38,  5.16s/it]
  1%|          | 10/900 [01:12<54:29,  3.67s/it] 
  1%|          | 11/900 [01:12<39:11,  2.64s/it]
  1%|▏         | 12/900 [01:12<28:38,  1.93s/it]
  1%|▏         | 13/900 [01:13<21:22,  1.45s/it]
  2%|▏         | 14/900 [01:13<16:19,  1.11s/it]
  2%|▏         | 15/900 [01:13<12:46,  1.15it/s]
  2%|▏         | 16/900 [01:14<10:19,  1.43it/s]
  2%|▏         | 17/900 [01:30<1:19:38,  5.41s/it]
  2%|▏         | 18/900 [01:30<57:02,  3.88s/it]  
  2%|▏         | 19/900 [01:31<41:14,  2.81s/it]
  2%|▏         | 20/900 [01:31<30:13,  2.06s/it]
  2%|▏         | 21/900 [01:31<22:31,  1.54s/it]
  2%|▏         | 22/900 [01:32<17:08,  1.17s/it]
  3%|▎         | 23/900 [01:32<13:22,  1.09it/s]
  3%|▎         | 24/900 [01:32<10:45,  1.36it/s]
  3%|▎         | 25/900 [01:43<55:31,  3.81s/it]
  3%|▎         | 26/900 [01:44<40:16,  2.76s/it]
  3%|▎         | 27/900 [01:44<29:32,  2.03s/it]2026-11-03T20:19:49Z [185,486ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
  3%|▎         | 28/900 [01:44<22:02,  1.52s/it]
  3%|▎         | 29/900 [01:44<16:47,  1.16s/it]
  3%|▎         | 30/900 [01:45<13:12,  1.10it/s]
  3%|▎         | 31/900 [01:45<10:41,  1.35it/s]
  4%|▎         | 32/900 [01:45<08:55,  1.62it/s]
  4%|▎         | 33/900 [02:00<1:08:16,  4.73s/it]
  4%|▍         | 34/900 [02:00<49:11,  3.41s/it]  
  4%|▍         | 35/900 [02:00<35:50,  2.49s/it]
  4%|▍         | 36/900 [02:01<26:30,  1.84s/it]
  4%|▍         | 37/900 [02:01<19:59,  1.39s/it]
  4%|▍         | 38/900 [02:01<15:28,  1.08s/it]
  4%|▍         | 39/900 [02:02<12:17,  1.17it/s]
  4%|▍         | 40/900 [02:02<10:05,  1.42it/s]
  5%|▍         | 41/900 [02:13<55:41,  3.89s/it]
  5%|▍         | 42/900 [02:14<40:26,  2.83s/it]
  5%|▍         | 43/900 [02:14<29:45,  2.08s/it]
  5%|▍         | 44/900 [02:15<22:28,  1.58s/it]
  5%|▌         | 45/900 [02:15<17:11,  1.21s/it]
  5%|▌         | 46/900 [02:15<13:28,  1.06it/s]
  5%|▌         | 47/900 [02:16<10:52,  1.31it/s]
  5%|▌         | 48/900 [02:16<09:04,  1.56it/s]
  5%|▌         | 49/900 [02:41<1:51:28,  7.86s/it]
  6%|▌         | 50/900 [02:41<1:19:24,  5.61s/it]
  6%|▌         | 51/900 [02:41<57:01,  4.03s/it]  
  6%|▌         | 52/900 [02:42<41:21,  2.93s/it]
  6%|▌         | 53/900 [02:42<30:23,  2.15s/it]
  6%|▌         | 54/900 [02:42<22:51,  1.62s/it]
  6%|▌         | 55/900 [02:43<17:35,  1.25s/it]
  6%|▌         | 56/900 [02:43<13:44,  1.02it/s]
  6%|▋         | 57/900 [03:12<2:11:43,  9.37s/it]
  6%|▋         | 58/900 [03:12<1:33:35,  6.67s/it]
  7%|▋         | 59/900 [03:13<1:06:59,  4.78s/it]
  7%|▋         | 60/900 [03:13<48:19,  3.45s/it]  
  7%|▋         | 61/900 [03:14<35:15,  2.52s/it]
  7%|▋         | 62/900 [03:14<26:05,  1.87s/it]
  7%|▋         | 63/900 [03:14<19:41,  1.41s/it]
  7%|▋         | 64/900 [03:15<15:17,  1.10s/it]
  7%|▋         | 65/900 [03:50<2:40:21, 11.52s/it]
  7%|▋         | 66/900 [03:51<1:53:38,  8.18s/it]
  7%|▋         | 67/900 [03:51<1:20:54,  5.83s/it]
  8%|▊         | 68/900 [03:52<58:01,  4.18s/it]  
  8%|▊         | 69/900 [03:52<41:59,  3.03s/it]
  8%|▊         | 70/900 [03:52<30:47,  2.23s/it]
  8%|▊         | 71/900 [03:53<22:55,  1.66s/it]
  8%|▊         | 72/900 [03:53<17:29,  1.27s/it]
  8%|▊         | 73/900 [04:24<2:21:56, 10.30s/it]
  8%|▊         | 74/900 [04:25<1:40:41,  7.31s/it]
  8%|▊         | 75/900 [04:25<1:11:49,  5.22s/it]
  8%|▊         | 76/900 [04:25<51:41,  3.76s/it]  
  9%|▊         | 77/900 [04:26<37:34,  2.74s/it]
  9%|▊         | 78/900 [04:26<27:41,  2.02s/it]
  9%|▉         | 79/900 [04:26<20:45,  1.52s/it]
  9%|▉         | 80/900 [04:27<15:58,  1.17s/it]
  9%|▉         | 81/900 [04:50<1:45:09,  7.70s/it]
  9%|▉         | 82/900 [04:50<1:14:55,  5.50s/it]
  9%|▉         | 83/900 [04:50<53:46,  3.95s/it]  
  9%|▉         | 84/900 [04:51<38:58,  2.87s/it]
  9%|▉         | 85/900 [04:51<28:37,  2.11s/it]
 10%|▉         | 86/900 [04:51<21:23,  1.58s/it]
 10%|▉         | 87/900 [04:52<16:21,  1.21s/it]
 10%|▉         | 88/900 [04:52<12:49,  1.05it/s]
 10%|▉         | 89/900 [05:08<1:15:36,  5.59s/it]
 10%|█         | 90/900 [05:09<54:13,  4.02s/it]  
 10%|█         | 91/900 [05:09<39:25,  2.92s/it]
 10%|█         | 92/900 [05:10<28:56,  2.15s/it]
 10%|█         | 93/900 [05:10<21:38,  1.61s/it]
 10%|█         | 94/900 [05:10<16:32,  1.23s/it]
 11%|█         | 95/900 [05:11<12:57,  1.04it/s]
 11%|█         | 96/900 [05:11<10:25,  1.28it/s]
 11%|█         | 97/900 [05:48<2:37:55, 11.80s/it]
 11%|█         | 98/900 [05:49<1:51:46,  8.36s/it]
 11%|█         | 99/900 [05:49<1:19:29,  5.95s/it]
 11%|█         | 100/900 [05:49<56:57,  4.27s/it] 
 11%|█         | 101/900 [05:50<41:12,  3.09s/it]
 11%|█▏        | 102/900 [05:50<30:10,  2.27s/it]
 11%|█▏        | 103/900 [05:51<22:29,  1.69s/it]
 12%|█▏        | 104/900 [05:51<17:09,  1.29s/it]
 12%|█▏        | 105/900 [06:33<3:00:30, 13.62s/it]
 12%|█▏        | 106/900 [06:34<2:07:34,  9.64s/it]
 12%|█▏        | 107/900 [06:34<1:30:35,  6.85s/it]
 12%|█▏        | 108/900 [06:34<1:04:40,  4.90s/it]
 12%|█▏        | 109/900 [06:35<46:35,  3.53s/it]  
 12%|█▏        | 110/900 [06:35<33:56,  2.58s/it]
 12%|█▏        | 111/900 [06:35<25:03,  1.91s/it]
 12%|█▏        | 112/900 [06:36<18:49,  1.43s/it]
 13%|█▎        | 113/900 [06:51<1:15:03,  5.72s/it]
 13%|█▎        | 114/900 [06:52<53:49,  4.11s/it]  
 13%|█▎        | 115/900 [06:52<38:54,  2.97s/it]
 13%|█▎        | 116/900 [06:52<28:28,  2.18s/it]
 13%|█▎        | 117/900 [06:53<21:09,  1.62s/it]
 13%|█▎        | 118/900 [06:53<16:01,  1.23s/it]
 13%|█▎        | 119/900 [06:53<12:27,  1.05it/s]
 13%|█▎        | 120/900 [06:54<09:57,  1.30it/s]
 13%|█▎        | 121/900 [07:13<1:23:29,  6.43s/it]
 13%|█▎        | 121/900 [07:14<46:35,  3.59s/it]  
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json.
+ReorientRedMugTask_2 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 122, duration: 8.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.8964898279228626, 'joint_sparc_mean': -4.532334691718999, 'ee_isj': 5289.266056467006, 'joint_isj': 351613.12421313283, 'ee_path_length': 1.6939075638928027, 'joint_rmse_mean': 1.4866904756410793, 'ee_speed_max': 1.2198541164398193, 'ee_speed_mean': 0.2082388997077942}, events: {'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 3, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 395.275, 'policy_inference_avg_ms': 3240.0, 'env_step_s': 37.16, 'env_step_avg_ms': 304.6, 'video_write_s': 1.71, 'video_write_avg_ms': 14.0, 'wall_total_s': 434.145, 'it_per_sec': 0.28}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: d8de6943ff994ff48638e130601f4d20-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T20:25:51Z [547,584ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.176207 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T20:25:53Z [549,594ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:25:53Z [549,594ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:25:53Z [549,604ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:25:53Z [549,604ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:25:53Z [549,613ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:25:53Z [549,623ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T20:25:53Z [549,642ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T20:25:53Z [549,960ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-11-03T20:25:53Z [549,960ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-11-03T20:25:53Z [550,021ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((384))' not available in the MDL representation.
+2026-11-03T20:25:53Z [550,021ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((384))' not available in the MDL representation.
+2026-11-03T20:25:53Z [550,035ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-03T20:25:53Z [550,035ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-03T20:25:54Z [550,717ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-11-03T20:25:54Z [550,717ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-11-03T20:25:54Z [550,720ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((384))' not available in the MDL representation.
+2026-11-03T20:25:54Z [550,720ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((384))' not available in the MDL representation.
+2026-11-03T20:25:54Z [550,721ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-03T20:25:54Z [550,721ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.062709 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaThenRubiksCubeTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : put the banana then the cube in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaThenRubiksCubeTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaThenRubiksCubeTask_0: 'put the banana then the cube in the bowl' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:51<12:44:14, 51.01s/it]
  0%|          | 2/900 [00:51<5:16:30, 21.15s/it] 
  0%|          | 3/900 [00:51<2:53:27, 11.60s/it]
  0%|          | 4/900 [00:51<1:46:14,  7.11s/it]
  1%|          | 5/900 [00:51<1:09:09,  4.64s/it]
  1%|          | 6/900 [00:52<46:46,  3.14s/it]  
  1%|          | 7/900 [00:52<32:35,  2.19s/it]
  1%|          | 8/900 [00:52<23:19,  1.57s/it]
  1%|          | 9/900 [01:05<1:15:56,  5.11s/it]
  1%|          | 10/900 [01:05<53:32,  3.61s/it] 
  1%|          | 11/900 [01:06<38:10,  2.58s/it]
  1%|▏         | 12/900 [01:06<27:37,  1.87s/it]
  1%|▏         | 13/900 [01:06<20:18,  1.37s/it]
  2%|▏         | 14/900 [01:06<15:11,  1.03s/it]
  2%|▏         | 15/900 [01:07<11:40,  1.26it/s]
  2%|▏         | 16/900 [01:07<09:15,  1.59it/s]
  2%|▏         | 17/900 [01:29<1:42:43,  6.98s/it]
  2%|▏         | 18/900 [01:29<1:12:49,  4.95s/it]
  2%|▏         | 19/900 [01:29<51:55,  3.54s/it]  
  2%|▏         | 20/900 [01:29<37:19,  2.54s/it]
  2%|▏         | 21/900 [01:29<27:06,  1.85s/it]
  2%|▏         | 22/900 [01:30<19:59,  1.37s/it]
  3%|▎         | 23/900 [01:30<15:00,  1.03s/it]
  3%|▎         | 24/900 [01:30<11:32,  1.26it/s]
  3%|▎         | 25/900 [01:49<1:30:06,  6.18s/it]
  3%|▎         | 26/900 [01:49<1:04:02,  4.40s/it]
  3%|▎         | 27/900 [01:49<45:47,  3.15s/it]  
  3%|▎         | 28/900 [01:50<33:05,  2.28s/it]
  3%|▎         | 29/900 [01:50<24:12,  1.67s/it]
  3%|▎         | 30/900 [01:50<17:57,  1.24s/it]
  3%|▎         | 31/900 [01:50<13:38,  1.06it/s]
  4%|▎         | 32/900 [01:51<10:35,  1.37it/s]
  4%|▎         | 33/900 [02:24<2:34:08, 10.67s/it]
  4%|▍         | 34/900 [02:25<1:48:48,  7.54s/it]
  4%|▍         | 35/900 [02:25<1:17:06,  5.35s/it]
  4%|▍         | 36/900 [02:25<54:59,  3.82s/it]  
  4%|▍         | 37/900 [02:25<39:28,  2.74s/it]
  4%|▍         | 38/900 [02:26<28:36,  1.99s/it]
  4%|▍         | 39/900 [02:26<20:59,  1.46s/it]
  4%|▍         | 40/900 [02:26<15:47,  1.10s/it]
  5%|▍         | 41/900 [02:44<1:29:38,  6.26s/it]
  5%|▍         | 42/900 [02:45<1:03:47,  4.46s/it]
  5%|▍         | 43/900 [02:45<45:41,  3.20s/it]  
  5%|▍         | 44/900 [02:45<33:02,  2.32s/it]
  5%|▌         | 45/900 [02:45<24:12,  1.70s/it]
  5%|▌         | 46/900 [02:46<17:59,  1.26s/it]
  5%|▌         | 47/900 [02:46<13:38,  1.04it/s]
  5%|▌         | 48/900 [02:46<10:38,  1.33it/s]
  5%|▌         | 49/900 [03:10<1:49:12,  7.70s/it]
  6%|▌         | 50/900 [03:10<1:17:24,  5.46s/it]
  6%|▌         | 51/900 [03:11<55:13,  3.90s/it]  
  6%|▌         | 52/900 [03:11<39:42,  2.81s/it]
  6%|▌         | 53/900 [03:11<28:51,  2.04s/it]
  6%|▌         | 54/900 [03:11<21:14,  1.51s/it]
  6%|▌         | 55/900 [03:12<15:50,  1.12s/it]
  6%|▌         | 56/900 [03:12<12:04,  1.17it/s]
  6%|▋         | 57/900 [03:31<1:28:33,  6.30s/it]
  6%|▋         | 58/900 [03:31<1:02:55,  4.48s/it]
  7%|▋         | 59/900 [03:31<44:58,  3.21s/it]  
  7%|▋         | 60/900 [03:32<32:26,  2.32s/it]
  7%|▋         | 61/900 [03:32<23:41,  1.69s/it]
  7%|▋         | 62/900 [03:32<17:32,  1.26s/it]
  7%|▋         | 63/900 [03:32<13:16,  1.05it/s]
  7%|▋         | 64/900 [03:33<10:16,  1.36it/s]
  7%|▋         | 65/900 [03:52<1:28:50,  6.38s/it]
  7%|▋         | 66/900 [03:52<1:03:06,  4.54s/it]
  7%|▋         | 67/900 [03:53<45:09,  3.25s/it]  
  8%|▊         | 68/900 [03:53<32:36,  2.35s/it]
  8%|▊         | 69/900 [03:53<23:54,  1.73s/it]
  8%|▊         | 70/900 [03:53<17:48,  1.29s/it]
  8%|▊         | 71/900 [03:54<13:29,  1.02it/s]
  8%|▊         | 72/900 [03:54<10:28,  1.32it/s]
  8%|▊         | 73/900 [04:11<1:16:00,  5.51s/it]
  8%|▊         | 74/900 [04:11<54:13,  3.94s/it]  
  8%|▊         | 75/900 [04:11<38:59,  2.84s/it]
  8%|▊         | 76/900 [04:11<28:21,  2.06s/it]
  9%|▊         | 77/900 [04:12<20:53,  1.52s/it]
  9%|▊         | 78/900 [04:12<15:44,  1.15s/it]
  9%|▉         | 79/900 [04:12<12:03,  1.14it/s]
  9%|▉         | 80/900 [04:12<09:30,  1.44it/s]
  9%|▉         | 81/900 [04:25<59:17,  4.34s/it]
  9%|▉         | 82/900 [04:25<42:33,  3.12s/it]
  9%|▉         | 83/900 [04:26<30:49,  2.26s/it]
  9%|▉         | 84/900 [04:26<22:36,  1.66s/it]
  9%|▉         | 85/900 [04:26<16:52,  1.24s/it]
 10%|▉         | 86/900 [04:27<12:51,  1.06it/s]
 10%|▉         | 87/900 [04:27<10:02,  1.35it/s]
 10%|▉         | 88/900 [04:27<08:06,  1.67it/s]
 10%|▉         | 89/900 [04:46<1:24:18,  6.24s/it]
 10%|█         | 90/900 [04:47<1:00:02,  4.45s/it]
 10%|█         | 91/900 [04:47<43:04,  3.19s/it]  
 10%|█         | 92/900 [04:47<31:12,  2.32s/it]
 10%|█         | 93/900 [04:48<22:53,  1.70s/it]
 10%|█         | 94/900 [04:48<17:08,  1.28s/it]
 11%|█         | 95/900 [04:48<13:06,  1.02it/s]
 11%|█         | 96/900 [04:48<10:14,  1.31it/s]
 11%|█         | 97/900 [05:14<1:48:57,  8.14s/it]
 11%|█         | 98/900 [05:14<1:17:14,  5.78s/it]
 11%|█         | 99/900 [05:14<55:05,  4.13s/it]  
 11%|█         | 100/900 [05:15<39:36,  2.97s/it]
 11%|█         | 101/900 [05:15<28:44,  2.16s/it]
 11%|█▏        | 102/900 [05:15<21:09,  1.59s/it]
 11%|█▏        | 103/900 [05:15<15:51,  1.19s/it]
 12%|█▏        | 104/900 [05:16<12:11,  1.09it/s]
 12%|█▏        | 105/900 [05:35<1:24:21,  6.37s/it]
 12%|█▏        | 106/900 [05:35<1:00:03,  4.54s/it]
 12%|█▏        | 107/900 [05:35<43:02,  3.26s/it]  
 12%|█▏        | 108/900 [05:35<31:07,  2.36s/it]
 12%|█▏        | 109/900 [05:36<22:51,  1.73s/it]
 12%|█▏        | 110/900 [05:36<17:01,  1.29s/it]
 12%|█▏        | 111/900 [05:36<12:58,  1.01it/s]
 12%|█▏        | 112/900 [05:37<10:08,  1.30it/s]
 13%|█▎        | 113/900 [05:55<1:17:43,  5.93s/it]
 13%|█▎        | 114/900 [05:55<55:24,  4.23s/it]  
 13%|█▎        | 115/900 [05:55<39:48,  3.04s/it]
 13%|█▎        | 116/900 [05:55<28:51,  2.21s/it]
 13%|█▎        | 117/900 [05:56<21:12,  1.63s/it]
 13%|█▎        | 118/900 [05:56<15:53,  1.22s/it]
 13%|█▎        | 119/900 [05:56<12:09,  1.07it/s]
 13%|█▎        | 120/900 [05:56<09:33,  1.36it/s]
 13%|█▎        | 121/900 [06:10<1:01:15,  4.72s/it]
 14%|█▎        | 122/900 [06:11<43:45,  3.37s/it]  
 14%|█▎        | 123/900 [06:11<31:31,  2.43s/it]
 14%|█▍        | 124/900 [06:11<23:00,  1.78s/it]
 14%|█▍        | 125/900 [06:11<17:01,  1.32s/it]
 14%|█▍        | 126/900 [06:12<12:50,  1.01it/s]
 14%|█▍        | 127/900 [06:12<09:54,  1.30it/s]
 14%|█▍        | 128/900 [06:12<07:50,  1.64it/s]
 14%|█▍        | 129/900 [06:35<1:31:53,  7.15s/it]
 14%|█▍        | 130/900 [06:35<1:05:10,  5.08s/it]
 15%|█▍        | 131/900 [06:35<46:29,  3.63s/it]  
 15%|█▍        | 132/900 [06:35<33:26,  2.61s/it]
 15%|█▍        | 133/900 [06:35<24:19,  1.90s/it]
 15%|█▍        | 134/900 [06:36<17:53,  1.40s/it]
 15%|█▌        | 135/900 [06:36<13:25,  1.05s/it]
 15%|█▌        | 136/900 [06:36<10:16,  1.24it/s]
 15%|█▌        | 137/900 [06:56<1:23:00,  6.53s/it]
 15%|█▌        | 138/900 [06:56<58:56,  4.64s/it]  
 15%|█▌        | 139/900 [06:57<42:05,  3.32s/it]
 16%|█▌        | 140/900 [06:57<30:19,  2.39s/it]
 16%|█▌        | 141/900 [06:57<22:06,  1.75s/it]
 16%|█▌        | 142/900 [06:57<16:20,  1.29s/it]
 16%|█▌        | 143/900 [06:57<12:19,  1.02it/s]
 16%|█▌        | 144/900 [06:58<09:28,  1.33it/s]
 16%|█▌        | 145/900 [07:17<1:19:26,  6.31s/it]
 16%|█▌        | 146/900 [07:17<56:24,  4.49s/it]  
 16%|█▋        | 147/900 [07:17<40:18,  3.21s/it]
 16%|█▋        | 148/900 [07:18<29:03,  2.32s/it]
 17%|█▋        | 149/900 [07:18<21:10,  1.69s/it]
 17%|█▋        | 150/900 [07:18<15:40,  1.25s/it]
 17%|█▋        | 151/900 [07:18<11:51,  1.05it/s]
 17%|█▋        | 152/900 [07:19<09:11,  1.36it/s]
 17%|█▋        | 153/900 [07:33<1:01:01,  4.90s/it]
 17%|█▋        | 154/900 [07:34<43:35,  3.51s/it]  
 17%|█▋        | 155/900 [07:34<31:24,  2.53s/it]
 17%|█▋        | 156/900 [07:34<22:54,  1.85s/it]
 17%|█▋        | 157/900 [07:34<16:52,  1.36s/it]
 18%|█▊        | 158/900 [07:34<12:41,  1.03s/it]
 18%|█▊        | 159/900 [07:35<09:44,  1.27it/s]
 18%|█▊        | 160/900 [07:35<07:41,  1.60it/s]
 18%|█▊        | 161/900 [07:52<1:07:41,  5.50s/it]
 18%|█▊        | 162/900 [07:52<48:19,  3.93s/it]  
 18%|█▊        | 163/900 [07:52<34:46,  2.83s/it]
 18%|█▊        | 164/900 [07:53<25:17,  2.06s/it]
 18%|█▊        | 165/900 [07:53<18:39,  1.52s/it]
 18%|█▊        | 166/900 [07:53<14:02,  1.15s/it]
 19%|█▊        | 167/900 [07:53<10:47,  1.13it/s]
 19%|█▊        | 168/900 [07:54<08:30,  1.43it/s]
 19%|█▉        | 169/900 [08:09<1:01:49,  5.07s/it]
 19%|█▉        | 170/900 [08:09<44:13,  3.64s/it]  
 19%|█▉        | 171/900 [08:10<31:54,  2.63s/it]
 19%|█▉        | 172/900 [08:10<23:16,  1.92s/it]
 19%|█▉        | 173/900 [08:10<17:15,  1.42s/it]
 19%|█▉        | 174/900 [08:10<13:01,  1.08s/it]
 19%|█▉        | 175/900 [08:11<10:04,  1.20it/s]
 20%|█▉        | 176/900 [08:11<07:59,  1.51it/s]
 20%|█▉        | 177/900 [08:35<1:32:04,  7.64s/it]
 20%|█▉        | 178/900 [08:35<1:05:20,  5.43s/it]
 20%|█▉        | 179/900 [08:35<46:36,  3.88s/it]  
 20%|██        | 180/900 [08:36<33:32,  2.79s/it]
 20%|██        | 181/900 [08:36<24:25,  2.04s/it]
 20%|██        | 182/900 [08:36<18:01,  1.51s/it]
 20%|██        | 183/900 [08:36<13:33,  1.13s/it]
 20%|██        | 184/900 [08:37<10:26,  1.14it/s]
 21%|██        | 185/900 [09:16<2:26:41, 12.31s/it]
 21%|██        | 186/900 [09:16<1:43:28,  8.70s/it]
 21%|██        | 187/900 [09:16<1:13:16,  6.17s/it]
 21%|██        | 188/900 [09:16<52:09,  4.39s/it]  
 21%|██        | 189/900 [09:17<37:24,  3.16s/it]
 21%|██        | 190/900 [09:17<27:04,  2.29s/it]
 21%|██        | 191/900 [09:17<19:51,  1.68s/it]
 21%|██▏       | 192/900 [09:18<14:49,  1.26s/it]
 21%|██▏       | 193/900 [09:48<1:56:36,  9.90s/it]
 22%|██▏       | 194/900 [09:48<1:22:28,  7.01s/it]
 22%|██▏       | 195/900 [09:48<58:34,  4.98s/it]  
 22%|██▏       | 196/900 [09:48<41:52,  3.57s/it]
 22%|██▏       | 197/900 [09:49<30:12,  2.58s/it]
 22%|██▏       | 198/900 [09:49<22:02,  1.88s/it]
 22%|██▏       | 199/900 [09:49<16:21,  1.40s/it]
 22%|██▏       | 200/900 [09:49<12:22,  1.06s/it]
 22%|██▏       | 201/900 [10:09<1:16:02,  6.53s/it]
 22%|██▏       | 202/900 [10:09<53:59,  4.64s/it]  
 23%|██▎       | 203/900 [10:09<38:33,  3.32s/it]
 23%|██▎       | 204/900 [10:09<27:46,  2.39s/it]
 23%|██▎       | 204/900 [10:10<34:42,  2.99s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json.
+BananaThenRubiksCubeTask_0 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_0, run: 0, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 205, duration: 13.666666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.933025934805544, 'joint_sparc_mean': -7.215368890297429, 'ee_isj': 844.9275678095244, 'joint_isj': 14474.660255516574, 'ee_path_length': 1.629594238575249, 'joint_rmse_mean': 1.0834856758634075, 'ee_speed_max': 0.4500855505466461, 'ee_speed_mean': 0.11358656734228134}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 7}, instruction_type: default, timing: {'policy_inference_s': 563.201, 'policy_inference_avg_ms': 2747.3, 'env_step_s': 44.35, 'env_step_avg_ms': 216.3, 'video_write_s': 2.577, 'video_write_avg_ms': 12.6, 'wall_total_s': 610.129, 'it_per_sec': 0.34}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: ef77b2d20d5a4b0799542db0312599bc-0
+[RoboLab] Running BananaThenRubiksCubeTask_1: 'put the banana then the cube in the bowl' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:52<13:10:52, 52.78s/it]
  0%|          | 2/900 [00:53<5:27:26, 21.88s/it] 
  0%|          | 3/900 [00:53<2:59:22, 12.00s/it]
  0%|          | 4/900 [00:53<1:49:49,  7.35s/it]
  1%|          | 5/900 [00:53<1:11:24,  4.79s/it]
  1%|          | 6/900 [00:53<48:16,  3.24s/it]  
  1%|          | 7/900 [00:54<33:36,  2.26s/it]
  1%|          | 8/900 [00:54<23:59,  1.61s/it]
  1%|          | 9/900 [01:14<1:47:38,  7.25s/it]
  1%|          | 10/900 [01:14<1:15:23,  5.08s/it]
  1%|          | 11/900 [01:14<53:21,  3.60s/it]  
  1%|▏         | 12/900 [01:14<38:13,  2.58s/it]
  1%|▏         | 13/900 [01:15<27:39,  1.87s/it]
  2%|▏         | 14/900 [01:15<20:19,  1.38s/it]
  2%|▏         | 15/900 [01:15<15:15,  1.03s/it]
  2%|▏         | 16/900 [01:15<11:41,  1.26it/s]
  2%|▏         | 17/900 [01:31<1:19:16,  5.39s/it]
  2%|▏         | 18/900 [01:32<56:25,  3.84s/it]  
  2%|▏         | 19/900 [01:32<40:28,  2.76s/it]
  2%|▏         | 20/900 [01:32<29:20,  2.00s/it]
  2%|▏         | 21/900 [01:32<21:31,  1.47s/it]
  2%|▏         | 22/900 [01:33<16:05,  1.10s/it]
  3%|▎         | 23/900 [01:33<12:19,  1.19it/s]
  3%|▎         | 24/900 [01:33<09:38,  1.51it/s]
  3%|▎         | 25/900 [02:01<2:07:19,  8.73s/it]
  3%|▎         | 26/900 [02:01<1:30:04,  6.18s/it]
  3%|▎         | 27/900 [02:01<1:04:04,  4.40s/it]
  3%|▎         | 28/900 [02:01<45:49,  3.15s/it]  
  3%|▎         | 29/900 [02:01<33:02,  2.28s/it]
  3%|▎         | 30/900 [02:02<24:05,  1.66s/it]
  3%|▎         | 31/900 [02:02<17:50,  1.23s/it]
  4%|▎         | 32/900 [02:02<13:28,  1.07it/s]
  4%|▎         | 33/900 [02:22<1:35:27,  6.61s/it]
  4%|▍         | 34/900 [02:22<1:07:44,  4.69s/it]
  4%|▍         | 35/900 [02:22<48:22,  3.36s/it]  
  4%|▍         | 36/900 [02:23<34:50,  2.42s/it]
  4%|▍         | 37/900 [02:23<25:21,  1.76s/it]
  4%|▍         | 38/900 [02:23<18:44,  1.30s/it]
  4%|▍         | 39/900 [02:23<14:07,  1.02it/s]
  4%|▍         | 40/900 [02:24<10:52,  1.32it/s]
  5%|▍         | 41/900 [02:47<1:46:51,  7.46s/it]
  5%|▍         | 42/900 [02:47<1:15:42,  5.29s/it]
  5%|▍         | 43/900 [02:47<53:57,  3.78s/it]  
  5%|▍         | 44/900 [02:47<38:44,  2.72s/it]
  5%|▌         | 45/900 [02:48<28:04,  1.97s/it]
  5%|▌         | 46/900 [02:48<20:36,  1.45s/it]
  5%|▌         | 47/900 [02:48<15:24,  1.08s/it]
  5%|▌         | 48/900 [02:48<11:45,  1.21it/s]
  5%|▌         | 49/900 [03:10<1:39:51,  7.04s/it]
  6%|▌         | 50/900 [03:10<1:10:48,  5.00s/it]
  6%|▌         | 51/900 [03:10<50:30,  3.57s/it]  
  6%|▌         | 52/900 [03:11<36:17,  2.57s/it]
  6%|▌         | 53/900 [03:11<26:21,  1.87s/it]
  6%|▌         | 54/900 [03:11<19:25,  1.38s/it]
  6%|▌         | 55/900 [03:11<14:36,  1.04s/it]
  6%|▌         | 56/900 [03:12<11:11,  1.26it/s]
  6%|▋         | 57/900 [03:29<1:22:46,  5.89s/it]
  6%|▋         | 58/900 [03:30<58:52,  4.19s/it]  
  7%|▋         | 59/900 [03:30<42:07,  3.01s/it]
  7%|▋         | 60/900 [03:30<30:26,  2.17s/it]
  7%|▋         | 61/900 [03:30<22:15,  1.59s/it]
  7%|▋         | 62/900 [03:31<16:31,  1.18s/it]
  7%|▋         | 63/900 [03:31<12:32,  1.11it/s]
  7%|▋         | 64/900 [03:31<09:44,  1.43it/s]
  7%|▋         | 65/900 [03:57<1:56:55,  8.40s/it]
  7%|▋         | 66/900 [03:58<1:22:43,  5.95s/it]
  7%|▋         | 67/900 [03:58<58:48,  4.24s/it]  
  8%|▊         | 68/900 [03:58<42:03,  3.03s/it]
  8%|▊         | 69/900 [03:58<30:23,  2.19s/it]
  8%|▊         | 70/900 [03:59<22:13,  1.61s/it]
  8%|▊         | 71/900 [03:59<16:32,  1.20s/it]
  8%|▊         | 72/900 [03:59<12:30,  1.10it/s]
  8%|▊         | 73/900 [04:13<1:07:34,  4.90s/it]
  8%|▊         | 74/900 [04:13<48:12,  3.50s/it]  
  8%|▊         | 75/900 [04:14<34:41,  2.52s/it]
  8%|▊         | 76/900 [04:14<25:13,  1.84s/it]
  9%|▊         | 77/900 [04:14<18:36,  1.36s/it]
  9%|▊         | 78/900 [04:14<13:58,  1.02s/it]
  9%|▉         | 79/900 [04:15<10:43,  1.28it/s]
  9%|▉         | 80/900 [04:15<08:27,  1.62it/s]
  9%|▉         | 81/900 [04:41<1:54:34,  8.39s/it]
  9%|▉         | 82/900 [04:42<1:21:04,  5.95s/it]
  9%|▉         | 83/900 [04:42<57:38,  4.23s/it]  
  9%|▉         | 84/900 [04:42<41:15,  3.03s/it]
  9%|▉         | 85/900 [04:42<29:48,  2.19s/it]
 10%|▉         | 86/900 [04:43<21:47,  1.61s/it]
 10%|▉         | 87/900 [04:43<16:10,  1.19s/it]
 10%|▉         | 88/900 [04:43<12:15,  1.10it/s]
 10%|▉         | 89/900 [05:06<1:41:20,  7.50s/it]
 10%|█         | 90/900 [05:06<1:11:49,  5.32s/it]
 10%|█         | 91/900 [05:06<51:08,  3.79s/it]  
 10%|█         | 92/900 [05:07<36:41,  2.72s/it]
 10%|█         | 93/900 [05:07<26:34,  1.98s/it]
 10%|█         | 94/900 [05:07<19:30,  1.45s/it]
 11%|█         | 95/900 [05:07<14:34,  1.09s/it]
 11%|█         | 96/900 [05:08<11:06,  1.21it/s]
 11%|█         | 97/900 [05:21<1:00:44,  4.54s/it]
 11%|█         | 98/900 [05:21<43:24,  3.25s/it]  
 11%|█         | 99/900 [05:21<31:16,  2.34s/it]
 11%|█         | 100/900 [05:21<22:47,  1.71s/it]
 11%|█         | 101/900 [05:22<16:51,  1.27s/it]
 11%|█▏        | 102/900 [05:22<12:43,  1.05it/s]
 11%|█▏        | 103/900 [05:22<09:49,  1.35it/s]
 12%|█▏        | 104/900 [05:22<07:47,  1.70it/s]
 12%|█▏        | 105/900 [05:37<1:05:07,  4.92s/it]
 12%|█▏        | 106/900 [05:38<46:27,  3.51s/it]  
 12%|█▏        | 107/900 [05:38<33:23,  2.53s/it]
 12%|█▏        | 108/900 [05:38<24:15,  1.84s/it]
 12%|█▏        | 109/900 [05:38<17:52,  1.36s/it]
 12%|█▏        | 110/900 [05:39<13:25,  1.02s/it]
 12%|█▏        | 111/900 [05:39<10:20,  1.27it/s]
 12%|█▏        | 112/900 [05:39<08:14,  1.59it/s]
 13%|█▎        | 113/900 [05:56<1:12:45,  5.55s/it]
 13%|█▎        | 114/900 [05:56<51:50,  3.96s/it]  
 13%|█▎        | 115/900 [05:57<37:14,  2.85s/it]
 13%|█▎        | 116/900 [05:57<27:01,  2.07s/it]
 13%|█▎        | 117/900 [05:57<19:53,  1.52s/it]
 13%|█▎        | 118/900 [05:57<14:53,  1.14s/it]
 13%|█▎        | 119/900 [05:58<11:22,  1.14it/s]
 13%|█▎        | 120/900 [05:58<08:54,  1.46it/s]
 13%|█▎        | 121/900 [06:13<1:05:47,  5.07s/it]
 14%|█▎        | 122/900 [06:13<46:57,  3.62s/it]  
 14%|█▎        | 123/900 [06:14<33:45,  2.61s/it]
 14%|█▍        | 124/900 [06:14<24:32,  1.90s/it]
 14%|█▍        | 125/900 [06:14<18:03,  1.40s/it]
 14%|█▍        | 126/900 [06:14<13:31,  1.05s/it]
 14%|█▍        | 127/900 [06:15<10:21,  1.24it/s]
 14%|█▍        | 128/900 [06:15<08:07,  1.58it/s]
 14%|█▍        | 129/900 [06:31<1:10:01,  5.45s/it]
 14%|█▍        | 130/900 [06:32<49:52,  3.89s/it]  
 15%|█▍        | 131/900 [06:32<35:46,  2.79s/it]
 15%|█▍        | 132/900 [06:32<25:57,  2.03s/it]
 15%|█▍        | 133/900 [06:32<19:07,  1.50s/it]
 15%|█▍        | 134/900 [06:33<14:17,  1.12s/it]
 15%|█▌        | 135/900 [06:33<10:57,  1.16it/s]
 15%|█▌        | 136/900 [06:33<08:37,  1.48it/s]
 15%|█▌        | 137/900 [06:52<1:16:36,  6.02s/it]
 15%|█▌        | 138/900 [06:52<54:31,  4.29s/it]  
 15%|█▌        | 139/900 [06:52<39:03,  3.08s/it]
 16%|█▌        | 140/900 [06:52<28:15,  2.23s/it]
 16%|█▌        | 141/900 [06:53<20:42,  1.64s/it]
 16%|█▌        | 142/900 [06:53<15:26,  1.22s/it]
 16%|█▌        | 143/900 [06:53<11:44,  1.07it/s]
 16%|█▌        | 144/900 [06:53<09:10,  1.37it/s]
 16%|█▌        | 145/900 [07:08<1:01:25,  4.88s/it]
 16%|█▌        | 146/900 [07:08<43:53,  3.49s/it]  
 16%|█▋        | 147/900 [07:09<31:40,  2.52s/it]
 16%|█▋        | 148/900 [07:09<23:05,  1.84s/it]
 17%|█▋        | 149/900 [07:09<17:06,  1.37s/it]
 17%|█▋        | 150/900 [07:09<12:55,  1.03s/it]
 17%|█▋        | 151/900 [07:10<10:01,  1.25it/s]
 17%|█▋        | 152/900 [07:10<07:57,  1.57it/s]
 17%|█▋        | 153/900 [07:33<1:31:58,  7.39s/it]
 17%|█▋        | 154/900 [07:33<1:05:16,  5.25s/it]
 17%|█▋        | 155/900 [07:33<46:36,  3.75s/it]  
 17%|█▋        | 156/900 [07:34<33:31,  2.70s/it]
 17%|█▋        | 157/900 [07:34<24:23,  1.97s/it]
 18%|█▊        | 158/900 [07:34<17:59,  1.45s/it]
 18%|█▊        | 159/900 [07:35<13:30,  1.09s/it]
 18%|█▊        | 160/900 [07:35<10:23,  1.19it/s]
 18%|█▊        | 161/900 [07:55<1:21:12,  6.59s/it]
 18%|█▊        | 162/900 [07:55<57:44,  4.69s/it]  
 18%|█▊        | 163/900 [07:55<41:18,  3.36s/it]
 18%|█▊        | 164/900 [07:56<29:51,  2.43s/it]
 18%|█▊        | 165/900 [07:56<21:51,  1.78s/it]
 18%|█▊        | 166/900 [07:56<16:12,  1.33s/it]
 19%|█▊        | 167/900 [07:56<12:17,  1.01s/it]
 19%|█▊        | 168/900 [07:57<09:31,  1.28it/s]
 19%|█▉        | 169/900 [08:17<1:22:13,  6.75s/it]
 19%|█▉        | 170/900 [08:18<58:25,  4.80s/it]  
 19%|█▉        | 171/900 [08:18<41:47,  3.44s/it]
 19%|█▉        | 172/900 [08:18<30:08,  2.48s/it]
 19%|█▉        | 173/900 [08:18<22:00,  1.82s/it]
 19%|█▉        | 174/900 [08:19<16:19,  1.35s/it]
 19%|█▉        | 175/900 [08:19<12:19,  1.02s/it]
 20%|█▉        | 176/900 [08:19<09:33,  1.26it/s]
 20%|█▉        | 177/900 [08:42<1:28:20,  7.33s/it]
 20%|█▉        | 178/900 [08:42<1:02:42,  5.21s/it]
 20%|█▉        | 179/900 [08:42<44:47,  3.73s/it]  
 20%|██        | 180/900 [08:42<32:13,  2.69s/it]
 20%|██        | 181/900 [08:43<23:27,  1.96s/it]
 20%|██        | 182/900 [08:43<17:19,  1.45s/it]
 20%|██        | 183/900 [08:43<13:01,  1.09s/it]
 20%|██        | 184/900 [08:43<10:00,  1.19it/s]
 21%|██        | 185/900 [09:00<1:06:45,  5.60s/it]
 21%|██        | 186/900 [09:00<47:29,  3.99s/it]  
 21%|██        | 187/900 [09:01<34:02,  2.86s/it]
 21%|██        | 188/900 [09:01<24:39,  2.08s/it]
 21%|██        | 189/900 [09:01<18:03,  1.52s/it]
 21%|██        | 190/900 [09:01<13:26,  1.14s/it]
 21%|██        | 191/900 [09:02<10:13,  1.16it/s]
 21%|██▏       | 192/900 [09:02<07:58,  1.48it/s]
 21%|██▏       | 193/900 [09:34<1:59:22, 10.13s/it]
 22%|██▏       | 194/900 [09:34<1:24:15,  7.16s/it]
 22%|██▏       | 195/900 [09:35<59:43,  5.08s/it]  
 22%|██▏       | 196/900 [09:35<42:34,  3.63s/it]
 22%|██▏       | 197/900 [09:35<30:34,  2.61s/it]
 22%|██▏       | 198/900 [09:35<22:11,  1.90s/it]
 22%|██▏       | 199/900 [09:35<16:19,  1.40s/it]
 22%|██▏       | 200/900 [09:36<12:14,  1.05s/it]
 22%|██▏       | 201/900 [10:04<1:47:02,  9.19s/it]
 22%|██▏       | 202/900 [10:04<1:15:39,  6.50s/it]
 23%|██▎       | 203/900 [10:04<53:41,  4.62s/it]  
 23%|██▎       | 204/900 [10:05<38:20,  3.31s/it]
 23%|██▎       | 205/900 [10:05<27:36,  2.38s/it]
 23%|██▎       | 206/900 [10:05<20:06,  1.74s/it]
 23%|██▎       | 207/900 [10:05<14:52,  1.29s/it]
 23%|██▎       | 208/900 [10:05<11:10,  1.03it/s]
 23%|██▎       | 209/900 [10:32<1:38:35,  8.56s/it]
 23%|██▎       | 210/900 [10:32<1:09:43,  6.06s/it]
 23%|██▎       | 211/900 [10:32<49:32,  4.31s/it]  
 24%|██▎       | 212/900 [10:32<35:26,  3.09s/it]
 24%|██▎       | 213/900 [10:33<25:34,  2.23s/it]
 24%|██▍       | 214/900 [10:33<18:40,  1.63s/it]
 24%|██▍       | 215/900 [10:33<13:51,  1.21s/it]
 24%|██▍       | 216/900 [10:33<10:29,  1.09it/s]
 24%|██▍       | 217/900 [10:59<1:34:27,  8.30s/it]
 24%|██▍       | 218/900 [10:59<1:06:48,  5.88s/it]
 24%|██▍       | 219/900 [10:59<47:29,  4.18s/it]  
 24%|██▍       | 220/900 [11:00<33:59,  3.00s/it]
 25%|██▍       | 221/900 [11:00<24:33,  2.17s/it]
 25%|██▍       | 222/900 [11:00<17:57,  1.59s/it]
 25%|██▍       | 223/900 [11:00<13:20,  1.18s/it]
 25%|██▍       | 224/900 [11:01<10:07,  1.11it/s]
 25%|██▌       | 225/900 [11:20<1:11:40,  6.37s/it]
 25%|██▌       | 226/900 [11:20<50:58,  4.54s/it]  
 25%|██▌       | 227/900 [11:20<36:29,  3.25s/it]
 25%|██▌       | 228/900 [11:20<26:20,  2.35s/it]
 25%|██▌       | 229/900 [11:21<19:16,  1.72s/it]
 26%|██▌       | 230/900 [11:21<14:20,  1.28s/it]
 26%|██▌       | 231/900 [11:21<10:52,  1.03it/s]
 26%|██▌       | 232/900 [11:21<08:26,  1.32it/s]
 26%|██▌       | 233/900 [11:40<1:08:16,  6.14s/it]
 26%|██▌       | 234/900 [11:40<48:35,  4.38s/it]  
 26%|██▌       | 235/900 [11:41<34:50,  3.14s/it]
 26%|██▌       | 236/900 [11:41<25:13,  2.28s/it]
 26%|██▋       | 237/900 [11:41<18:29,  1.67s/it]
 26%|██▋       | 238/900 [11:41<13:47,  1.25s/it]
 27%|██▋       | 239/900 [11:42<10:28,  1.05it/s]
 27%|██▋       | 240/900 [11:42<08:09,  1.35it/s]
 27%|██▋       | 241/900 [12:07<1:29:15,  8.13s/it]
 27%|██▋       | 242/900 [12:08<1:03:13,  5.77s/it]
 27%|██▋       | 243/900 [12:08<45:01,  4.11s/it]  
 27%|██▋       | 244/900 [12:08<32:18,  2.95s/it]
 27%|██▋       | 245/900 [12:08<23:24,  2.14s/it]
 27%|██▋       | 246/900 [12:09<17:11,  1.58s/it]
 27%|██▋       | 247/900 [12:09<12:50,  1.18s/it]
 28%|██▊       | 248/900 [12:09<09:48,  1.11it/s]
 28%|██▊       | 249/900 [12:30<1:14:37,  6.88s/it]
 28%|██▊       | 250/900 [12:30<53:00,  4.89s/it]  
 28%|██▊       | 251/900 [12:30<37:53,  3.50s/it]
 28%|██▊       | 252/900 [12:31<27:17,  2.53s/it]
 28%|██▊       | 253/900 [12:31<19:53,  1.84s/it]
 28%|██▊       | 254/900 [12:31<14:43,  1.37s/it]
 28%|██▊       | 255/900 [12:31<11:06,  1.03s/it]
 28%|██▊       | 256/900 [12:32<08:36,  1.25it/s]
 29%|██▊       | 257/900 [13:01<1:40:24,  9.37s/it]
 29%|██▊       | 258/900 [13:01<1:10:59,  6.63s/it]
 29%|██▉       | 259/900 [13:02<50:24,  4.72s/it]  
 29%|██▉       | 260/900 [13:02<36:00,  3.38s/it]
 29%|██▉       | 261/900 [13:02<25:58,  2.44s/it]
 29%|██▉       | 262/900 [13:02<18:56,  1.78s/it]
 29%|██▉       | 263/900 [13:03<14:00,  1.32s/it]
 29%|██▉       | 264/900 [13:03<10:33,  1.00it/s]
 29%|██▉       | 265/900 [13:37<1:57:08, 11.07s/it]
 30%|██▉       | 266/900 [13:38<1:22:39,  7.82s/it]
 30%|██▉       | 267/900 [13:38<58:33,  5.55s/it]  
 30%|██▉       | 268/900 [13:38<41:41,  3.96s/it]
 30%|██▉       | 269/900 [13:38<29:52,  2.84s/it]
 30%|███       | 270/900 [13:39<21:39,  2.06s/it]
 30%|███       | 271/900 [13:39<15:53,  1.52s/it]
 30%|███       | 272/900 [13:39<11:51,  1.13s/it]
 30%|███       | 273/900 [14:09<1:40:42,  9.64s/it]
 30%|███       | 274/900 [14:09<1:11:07,  6.82s/it]
 31%|███       | 275/900 [14:09<50:25,  4.84s/it]  
 31%|███       | 276/900 [14:09<35:57,  3.46s/it]
 31%|███       | 277/900 [14:10<25:51,  2.49s/it]
 31%|███       | 278/900 [14:10<18:47,  1.81s/it]
 31%|███       | 279/900 [14:10<13:51,  1.34s/it]
 31%|███       | 280/900 [14:10<10:24,  1.01s/it]
 31%|███       | 281/900 [14:41<1:41:48,  9.87s/it]
 31%|███▏      | 282/900 [14:41<1:11:52,  6.98s/it]
 31%|███▏      | 283/900 [14:41<50:56,  4.95s/it]  
 32%|███▏      | 284/900 [14:41<36:19,  3.54s/it]
 32%|███▏      | 285/900 [14:42<26:06,  2.55s/it]
 32%|███▏      | 286/900 [14:42<18:57,  1.85s/it]
 32%|███▏      | 287/900 [14:42<13:58,  1.37s/it]
 32%|███▏      | 288/900 [14:42<10:28,  1.03s/it]
 32%|███▏      | 289/900 [14:43<09:44,  1.05it/s]
 32%|███▏      | 290/900 [14:43<07:30,  1.35it/s]
 32%|███▏      | 291/900 [14:44<05:57,  1.70it/s]
 32%|███▏      | 292/900 [14:44<04:52,  2.08it/s]
 33%|███▎      | 293/900 [14:44<04:06,  2.46it/s]
 33%|███▎      | 294/900 [14:44<03:35,  2.81it/s]
 33%|███▎      | 295/900 [14:45<03:12,  3.15it/s]
 33%|███▎      | 296/900 [14:45<02:56,  3.43it/s]
 33%|███▎      | 297/900 [14:46<04:14,  2.37it/s]
 33%|███▎      | 298/900 [14:46<03:39,  2.74it/s]
 33%|███▎      | 299/900 [14:46<03:15,  3.08it/s]
 33%|███▎      | 300/900 [14:46<02:59,  3.35it/s]
 33%|███▎      | 301/900 [14:46<02:47,  3.58it/s]
 34%|███▎      | 302/900 [14:47<02:39,  3.75it/s]
 34%|███▎      | 303/900 [14:47<02:33,  3.89it/s]
 34%|███▍      | 304/900 [14:47<02:29,  4.00it/s]
 34%|███▍      | 305/900 [15:18<1:34:23,  9.52s/it]
 34%|███▍      | 306/900 [15:19<1:06:40,  6.73s/it]
 34%|███▍      | 307/900 [15:19<47:15,  4.78s/it]  
 34%|███▍      | 308/900 [15:19<33:43,  3.42s/it]
 34%|███▍      | 309/900 [15:19<24:15,  2.46s/it]
 34%|███▍      | 310/900 [15:19<17:37,  1.79s/it]
 35%|███▍      | 311/900 [15:20<13:00,  1.32s/it]
 35%|███▍      | 312/900 [15:20<09:46,  1.00it/s]
 35%|███▍      | 313/900 [15:41<1:07:56,  6.94s/it]
 35%|███▍      | 314/900 [15:41<48:10,  4.93s/it]  
 35%|███▌      | 315/900 [15:41<34:21,  3.52s/it]
 35%|███▌      | 316/900 [15:41<24:42,  2.54s/it]
 35%|███▌      | 317/900 [15:42<17:57,  1.85s/it]
 35%|███▌      | 318/900 [15:42<13:13,  1.36s/it]
 35%|███▌      | 319/900 [15:42<09:56,  1.03s/it]
 36%|███▌      | 320/900 [15:42<07:38,  1.26it/s]
 36%|███▌      | 321/900 [16:04<1:06:44,  6.92s/it]
 36%|███▌      | 322/900 [16:04<47:19,  4.91s/it]  
 36%|███▌      | 323/900 [16:04<33:44,  3.51s/it]
 36%|███▌      | 324/900 [16:04<24:15,  2.53s/it]
 36%|███▌      | 325/900 [16:05<17:36,  1.84s/it]
 36%|███▌      | 326/900 [16:05<12:58,  1.36s/it]
 36%|███▋      | 327/900 [16:05<09:46,  1.02s/it]
 36%|███▋      | 328/900 [16:05<07:34,  1.26it/s]
 37%|███▋      | 329/900 [16:28<1:08:37,  7.21s/it]
 37%|███▋      | 330/900 [16:28<48:41,  5.13s/it]  
 37%|███▋      | 331/900 [16:28<34:44,  3.66s/it]
 37%|███▋      | 332/900 [16:28<25:00,  2.64s/it]
 37%|███▋      | 333/900 [16:29<18:12,  1.93s/it]
 37%|███▋      | 334/900 [16:29<13:26,  1.43s/it]
 37%|███▋      | 335/900 [16:29<10:06,  1.07s/it]
 37%|███▋      | 336/900 [16:29<07:46,  1.21it/s]
 37%|███▋      | 336/900 [16:49<28:15,  3.01s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json.
+BananaThenRubiksCubeTask_1 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_1, run: 1, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 337, duration: 22.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.5130460735410445, 'joint_sparc_mean': -8.373067531081256, 'ee_isj': 1158.1622068610254, 'joint_isj': 15929.086339632224, 'ee_path_length': 2.455204752725649, 'joint_rmse_mean': 1.177370747148714, 'ee_speed_max': 0.47716718912124634, 'ee_speed_mean': 0.10476770251989365}, events: {'GRIPPER_HIT_OBJECT': 3, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 937.699, 'policy_inference_avg_ms': 2782.5, 'env_step_s': 69.047, 'env_step_avg_ms': 204.9, 'video_write_s': 3.022, 'video_write_avg_ms': 9.0, 'wall_total_s': 1009.768, 'it_per_sec': 0.33}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 6eabc2a9a21b460b8db085569225f613-1
+[RoboLab] Running BananaThenRubiksCubeTask_2: 'put the banana then the cube in the bowl' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:49<12:14:45, 49.04s/it]
  0%|          | 2/900 [00:49<5:04:28, 20.34s/it] 
  0%|          | 3/900 [00:49<2:46:53, 11.16s/it]
  0%|          | 4/900 [00:49<1:42:17,  6.85s/it]
  1%|          | 5/900 [00:50<1:06:36,  4.47s/it]
  1%|          | 6/900 [00:50<45:06,  3.03s/it]  
  1%|          | 7/900 [00:50<31:27,  2.11s/it]
  1%|          | 8/900 [00:50<22:32,  1.52s/it]
  1%|          | 9/900 [01:06<1:28:47,  5.98s/it]
  1%|          | 10/900 [01:06<1:02:21,  4.20s/it]
  1%|          | 11/900 [01:06<44:17,  2.99s/it]  
  1%|▏         | 12/900 [01:07<31:49,  2.15s/it]
  1%|▏         | 13/900 [01:07<23:12,  1.57s/it]
  2%|▏         | 14/900 [01:07<17:13,  1.17s/it]
  2%|▏         | 15/900 [01:07<13:04,  1.13it/s]
  2%|▏         | 16/900 [01:08<10:09,  1.45it/s]
  2%|▏         | 17/900 [01:29<1:41:48,  6.92s/it]
  2%|▏         | 18/900 [01:29<1:12:12,  4.91s/it]
  2%|▏         | 19/900 [01:30<51:32,  3.51s/it]  
  2%|▏         | 20/900 [01:30<37:04,  2.53s/it]
  2%|▏         | 21/900 [01:30<26:58,  1.84s/it]
  2%|▏         | 22/900 [01:30<19:50,  1.36s/it]
  3%|▎         | 23/900 [01:30<14:52,  1.02s/it]
  3%|▎         | 24/900 [01:31<11:26,  1.28it/s]
  3%|▎         | 25/900 [01:45<1:11:05,  4.87s/it]
  3%|▎         | 26/900 [01:45<50:45,  3.48s/it]  
  3%|▎         | 27/900 [01:46<36:31,  2.51s/it]
  3%|▎         | 28/900 [01:46<26:33,  1.83s/it]
  3%|▎         | 29/900 [01:46<19:37,  1.35s/it]
  3%|▎         | 30/900 [01:46<14:42,  1.01s/it]
  3%|▎         | 31/900 [01:47<11:17,  1.28it/s]
  4%|▎         | 32/900 [01:47<08:54,  1.62it/s]
  4%|▎         | 33/900 [02:09<1:41:43,  7.04s/it]
  4%|▍         | 34/900 [02:09<1:12:07,  5.00s/it]
  4%|▍         | 35/900 [02:09<51:24,  3.57s/it]  
  4%|▍         | 36/900 [02:09<36:57,  2.57s/it]
  4%|▍         | 37/900 [02:10<26:50,  1.87s/it]
  4%|▍         | 38/900 [02:10<19:47,  1.38s/it]
  4%|▍         | 39/900 [02:10<14:49,  1.03s/it]
  4%|▍         | 40/900 [02:10<11:22,  1.26it/s]
  5%|▍         | 41/900 [02:35<1:52:55,  7.89s/it]
  5%|▍         | 42/900 [02:35<1:19:58,  5.59s/it]
  5%|▍         | 43/900 [02:35<56:55,  3.99s/it]  
  5%|▍         | 44/900 [02:36<40:48,  2.86s/it]
  5%|▌         | 45/900 [02:36<29:31,  2.07s/it]
  5%|▌         | 46/900 [02:36<21:39,  1.52s/it]
  5%|▌         | 47/900 [02:36<16:06,  1.13s/it]
  5%|▌         | 48/900 [02:37<12:15,  1.16it/s]
  5%|▌         | 49/900 [03:07<2:18:34,  9.77s/it]
  6%|▌         | 50/900 [03:07<1:37:52,  6.91s/it]
  6%|▌         | 51/900 [03:08<1:09:25,  4.91s/it]
  6%|▌         | 52/900 [03:08<49:31,  3.50s/it]  
  6%|▌         | 53/900 [03:08<35:37,  2.52s/it]
  6%|▌         | 54/900 [03:08<25:53,  1.84s/it]
  6%|▌         | 55/900 [03:08<19:06,  1.36s/it]
  6%|▌         | 56/900 [03:09<14:20,  1.02s/it]
  6%|▋         | 57/900 [03:37<2:08:47,  9.17s/it]
  6%|▋         | 58/900 [03:37<1:31:01,  6.49s/it]
  7%|▋         | 59/900 [03:37<1:04:36,  4.61s/it]
  7%|▋         | 60/900 [03:38<46:10,  3.30s/it]  
  7%|▋         | 61/900 [03:38<33:15,  2.38s/it]
  7%|▋         | 62/900 [03:38<24:13,  1.73s/it]
  7%|▋         | 63/900 [03:38<17:54,  1.28s/it]
  7%|▋         | 64/900 [03:39<13:30,  1.03it/s]
  7%|▋         | 65/900 [03:54<1:13:44,  5.30s/it]
  7%|▋         | 66/900 [03:54<52:31,  3.78s/it]  
  7%|▋         | 67/900 [03:54<37:41,  2.71s/it]
  8%|▊         | 68/900 [03:55<27:18,  1.97s/it]
  8%|▊         | 69/900 [03:55<20:03,  1.45s/it]
  8%|▊         | 70/900 [03:55<14:58,  1.08s/it]
  8%|▊         | 71/900 [03:55<11:27,  1.21it/s]
  8%|▊         | 72/900 [03:56<08:58,  1.54it/s]
  8%|▊         | 73/900 [04:12<1:15:54,  5.51s/it]
  8%|▊         | 74/900 [04:13<54:02,  3.93s/it]  
  8%|▊         | 75/900 [04:13<38:43,  2.82s/it]
  8%|▊         | 76/900 [04:13<28:02,  2.04s/it]
  9%|▊         | 77/900 [04:13<20:33,  1.50s/it]
  9%|▊         | 78/900 [04:14<15:20,  1.12s/it]
  9%|▉         | 79/900 [04:14<11:41,  1.17it/s]
  9%|▉         | 80/900 [04:14<09:08,  1.49it/s]
  9%|▉         | 81/900 [04:29<1:05:49,  4.82s/it]
  9%|▉         | 82/900 [04:29<46:59,  3.45s/it]  
  9%|▉         | 83/900 [04:29<33:49,  2.48s/it]
  9%|▉         | 84/900 [04:29<24:35,  1.81s/it]
  9%|▉         | 85/900 [04:29<18:07,  1.33s/it]
 10%|▉         | 86/900 [04:30<13:38,  1.01s/it]
 10%|▉         | 87/900 [04:30<10:28,  1.29it/s]
 10%|▉         | 88/900 [04:30<08:15,  1.64it/s]
 10%|▉         | 89/900 [04:45<1:04:20,  4.76s/it]
 10%|█         | 90/900 [04:45<46:00,  3.41s/it]  
 10%|█         | 91/900 [04:45<33:11,  2.46s/it]
 10%|█         | 92/900 [04:45<24:13,  1.80s/it]
 10%|█         | 93/900 [04:46<17:56,  1.33s/it]
 10%|█         | 94/900 [04:46<13:35,  1.01s/it]
 11%|█         | 95/900 [04:46<10:31,  1.27it/s]
 11%|█         | 96/900 [04:46<08:22,  1.60it/s]
 11%|█         | 97/900 [05:01<1:02:52,  4.70s/it]
 11%|█         | 98/900 [05:01<45:00,  3.37s/it]  
 11%|█         | 99/900 [05:01<32:29,  2.43s/it]
 11%|█         | 100/900 [05:01<23:42,  1.78s/it]
 11%|█         | 101/900 [05:02<17:38,  1.33s/it]
 11%|█▏        | 102/900 [05:02<13:23,  1.01s/it]
 11%|█▏        | 103/900 [05:02<10:22,  1.28it/s]
 12%|█▏        | 104/900 [05:02<08:16,  1.60it/s]
 12%|█▏        | 105/900 [05:18<1:08:30,  5.17s/it]
 12%|█▏        | 106/900 [05:18<48:52,  3.69s/it]  
 12%|█▏        | 107/900 [05:19<35:11,  2.66s/it]
 12%|█▏        | 108/900 [05:19<25:39,  1.94s/it]
 12%|█▏        | 109/900 [05:19<18:56,  1.44s/it]
 12%|█▏        | 110/900 [05:19<14:10,  1.08s/it]
 12%|█▏        | 111/900 [05:20<10:50,  1.21it/s]
 12%|█▏        | 112/900 [05:20<08:29,  1.55it/s]
 13%|█▎        | 113/900 [05:50<2:05:01,  9.53s/it]
 13%|█▎        | 114/900 [05:50<1:28:19,  6.74s/it]
 13%|█▎        | 115/900 [05:51<1:02:39,  4.79s/it]
 13%|█▎        | 116/900 [05:51<44:42,  3.42s/it]  
 13%|█▎        | 117/900 [05:51<32:09,  2.46s/it]
 13%|█▎        | 118/900 [05:51<23:22,  1.79s/it]
 13%|█▎        | 119/900 [05:52<17:15,  1.33s/it]
 13%|█▎        | 120/900 [05:52<12:58,  1.00it/s]
 13%|█▎        | 121/900 [06:13<1:33:14,  7.18s/it]
 14%|█▎        | 122/900 [06:14<1:06:05,  5.10s/it]
 14%|█▎        | 123/900 [06:14<47:06,  3.64s/it]  
 14%|█▍        | 124/900 [06:14<33:49,  2.61s/it]
 14%|█▍        | 125/900 [06:14<24:31,  1.90s/it]
 14%|█▍        | 126/900 [06:15<18:02,  1.40s/it]
 14%|█▍        | 127/900 [06:15<13:34,  1.05s/it]
 14%|█▍        | 128/900 [06:15<10:27,  1.23it/s]
 14%|█▍        | 129/900 [06:35<1:24:52,  6.61s/it]
 14%|█▍        | 130/900 [06:35<1:00:17,  4.70s/it]
 15%|█▍        | 131/900 [06:36<43:04,  3.36s/it]  
 15%|█▍        | 132/900 [06:36<31:02,  2.42s/it]
 15%|█▍        | 133/900 [06:36<22:36,  1.77s/it]
 15%|█▍        | 134/900 [06:36<16:40,  1.31s/it]
 15%|█▌        | 135/900 [06:37<12:33,  1.02it/s]
 15%|█▌        | 136/900 [06:37<09:40,  1.32it/s]
 15%|█▌        | 137/900 [07:01<1:38:00,  7.71s/it]
 15%|█▌        | 138/900 [07:01<1:09:24,  5.47s/it]
 15%|█▌        | 139/900 [07:01<49:24,  3.90s/it]  
 16%|█▌        | 140/900 [07:01<35:26,  2.80s/it]
 16%|█▌        | 141/900 [07:02<25:40,  2.03s/it]
 16%|█▌        | 142/900 [07:02<18:51,  1.49s/it]
 16%|█▌        | 143/900 [07:02<14:04,  1.12s/it]
 16%|█▌        | 144/900 [07:02<10:44,  1.17it/s]
 16%|█▌        | 145/900 [07:16<57:16,  4.55s/it]
 16%|█▌        | 146/900 [07:16<41:00,  3.26s/it]
 16%|█▋        | 147/900 [07:16<29:38,  2.36s/it]
 16%|█▋        | 148/900 [07:16<21:39,  1.73s/it]
 17%|█▋        | 149/900 [07:17<16:06,  1.29s/it]
 17%|█▋        | 150/900 [07:17<12:13,  1.02it/s]
 17%|█▋        | 151/900 [07:17<09:31,  1.31it/s]
 17%|█▋        | 152/900 [07:17<07:36,  1.64it/s]
 17%|█▋        | 153/900 [07:33<1:04:39,  5.19s/it]
 17%|█▋        | 154/900 [07:34<46:09,  3.71s/it]  
 17%|█▋        | 155/900 [07:34<33:13,  2.68s/it]
 17%|█▋        | 156/900 [07:34<24:11,  1.95s/it]
 17%|█▋        | 157/900 [07:34<17:50,  1.44s/it]
 18%|█▊        | 158/900 [07:35<13:24,  1.08s/it]
 18%|█▊        | 159/900 [07:35<10:18,  1.20it/s]
 18%|█▊        | 160/900 [07:35<08:09,  1.51it/s]
 18%|█▊        | 161/900 [07:57<1:28:00,  7.15s/it]
 18%|█▊        | 162/900 [07:58<1:02:30,  5.08s/it]
 18%|█▊        | 163/900 [07:58<44:39,  3.64s/it]  
 18%|█▊        | 164/900 [07:58<32:08,  2.62s/it]
 18%|█▊        | 165/900 [07:58<23:25,  1.91s/it]
 18%|█▊        | 166/900 [07:59<17:17,  1.41s/it]
 19%|█▊        | 167/900 [07:59<13:00,  1.07s/it]
 19%|█▊        | 168/900 [07:59<10:01,  1.22it/s]
 19%|█▉        | 169/900 [08:15<1:03:51,  5.24s/it]
 19%|█▉        | 170/900 [08:15<45:34,  3.75s/it]  
 19%|█▉        | 171/900 [08:15<32:47,  2.70s/it]
 19%|█▉        | 172/900 [08:15<23:50,  1.96s/it]
 19%|█▉        | 173/900 [08:16<17:36,  1.45s/it]
 19%|█▉        | 174/900 [08:16<13:13,  1.09s/it]
 19%|█▉        | 175/900 [08:16<10:10,  1.19it/s]
 20%|█▉        | 176/900 [08:16<08:01,  1.50it/s]
 20%|█▉        | 177/900 [08:42<1:36:21,  8.00s/it]
 20%|█▉        | 178/900 [08:42<1:08:18,  5.68s/it]
 20%|█▉        | 179/900 [08:42<48:42,  4.05s/it]  
 20%|██        | 180/900 [08:42<34:57,  2.91s/it]
 20%|██        | 181/900 [08:43<25:22,  2.12s/it]
 20%|██        | 182/900 [08:43<18:38,  1.56s/it]
 20%|██        | 183/900 [08:43<13:58,  1.17s/it]
 20%|██        | 184/900 [08:43<10:42,  1.11it/s]
 21%|██        | 185/900 [09:03<1:18:38,  6.60s/it]
 21%|██        | 186/900 [09:04<55:57,  4.70s/it]  
 21%|██        | 187/900 [09:04<40:03,  3.37s/it]
 21%|██        | 188/900 [09:04<28:56,  2.44s/it]
 21%|██        | 189/900 [09:04<21:09,  1.79s/it]
 21%|██        | 190/900 [09:05<15:43,  1.33s/it]
 21%|██        | 191/900 [09:05<11:54,  1.01s/it]
 21%|██▏       | 192/900 [09:05<09:15,  1.28it/s]
 21%|██▏       | 193/900 [09:23<1:08:30,  5.81s/it]
 22%|██▏       | 194/900 [09:23<48:48,  4.15s/it]  
 22%|██▏       | 195/900 [09:23<35:03,  2.98s/it]
 22%|██▏       | 196/900 [09:23<25:26,  2.17s/it]
 22%|██▏       | 197/900 [09:24<18:42,  1.60s/it]
 22%|██▏       | 198/900 [09:24<13:58,  1.19s/it]
 22%|██▏       | 199/900 [09:24<10:39,  1.10it/s]
 22%|██▏       | 200/900 [09:25<08:22,  1.39it/s]
 22%|██▏       | 201/900 [09:40<59:13,  5.08s/it]
 22%|██▏       | 202/900 [09:40<42:14,  3.63s/it]
 23%|██▎       | 203/900 [09:40<30:21,  2.61s/it]
 23%|██▎       | 204/900 [09:41<22:04,  1.90s/it]
 23%|██▎       | 205/900 [09:41<16:17,  1.41s/it]
 23%|██▎       | 206/900 [09:41<12:15,  1.06s/it]
 23%|██▎       | 207/900 [09:41<09:25,  1.23it/s]
 23%|██▎       | 208/900 [09:42<07:25,  1.55it/s]
 23%|██▎       | 209/900 [09:59<1:04:00,  5.56s/it]
 23%|██▎       | 210/900 [09:59<45:33,  3.96s/it]  
 23%|██▎       | 211/900 [09:59<32:39,  2.84s/it]
 24%|██▎       | 212/900 [09:59<23:37,  2.06s/it]
 24%|██▎       | 213/900 [09:59<17:19,  1.51s/it]
 24%|██▍       | 214/900 [10:00<12:53,  1.13s/it]
 24%|██▍       | 215/900 [10:00<09:47,  1.17it/s]
 24%|██▍       | 216/900 [10:00<07:39,  1.49it/s]
 24%|██▍       | 217/900 [10:26<1:33:23,  8.20s/it]
 24%|██▍       | 218/900 [10:26<1:06:05,  5.81s/it]
 24%|██▍       | 219/900 [10:26<46:58,  4.14s/it]  
 24%|██▍       | 220/900 [10:27<33:37,  2.97s/it]
 25%|██▍       | 221/900 [10:27<24:16,  2.14s/it]
 25%|██▍       | 222/900 [10:27<17:45,  1.57s/it]
 25%|██▍       | 223/900 [10:27<13:12,  1.17s/it]
 25%|██▍       | 224/900 [10:28<10:01,  1.12it/s]
 25%|██▌       | 225/900 [11:00<1:57:50, 10.47s/it]
 25%|██▌       | 226/900 [11:01<1:23:09,  7.40s/it]
 25%|██▌       | 227/900 [11:01<58:54,  5.25s/it]  
 25%|██▌       | 228/900 [11:01<41:58,  3.75s/it]
 25%|██▌       | 229/900 [11:01<30:07,  2.69s/it]
 26%|██▌       | 230/900 [11:02<21:50,  1.96s/it]
 26%|██▌       | 231/900 [11:02<16:03,  1.44s/it]
 26%|██▌       | 232/900 [11:02<12:00,  1.08s/it]
 26%|██▌       | 233/900 [11:26<1:27:50,  7.90s/it]
 26%|██▌       | 234/900 [11:26<1:02:11,  5.60s/it]
 26%|██▌       | 235/900 [11:26<44:13,  3.99s/it]  
 26%|██▌       | 236/900 [11:27<31:41,  2.86s/it]
 26%|██▋       | 237/900 [11:27<22:55,  2.08s/it]
 26%|██▋       | 238/900 [11:27<16:48,  1.52s/it]
 27%|██▋       | 239/900 [11:27<12:32,  1.14s/it]
 27%|██▋       | 240/900 [11:28<09:32,  1.15it/s]
 27%|██▋       | 241/900 [11:45<1:05:37,  5.98s/it]
 27%|██▋       | 242/900 [11:46<46:38,  4.25s/it]  
 27%|██▋       | 243/900 [11:46<33:22,  3.05s/it]
 27%|██▋       | 244/900 [11:46<24:05,  2.20s/it]
 27%|██▋       | 245/900 [11:46<17:36,  1.61s/it]
 27%|██▋       | 246/900 [11:47<13:04,  1.20s/it]
 27%|██▋       | 247/900 [11:47<09:54,  1.10it/s]
 28%|██▊       | 248/900 [11:47<07:41,  1.41it/s]
 28%|██▊       | 249/900 [12:04<1:00:14,  5.55s/it]
 28%|██▊       | 250/900 [12:04<42:52,  3.96s/it]  
 28%|██▊       | 251/900 [12:04<30:43,  2.84s/it]
 28%|██▊       | 252/900 [12:05<22:14,  2.06s/it]
 28%|██▊       | 253/900 [12:05<16:18,  1.51s/it]
 28%|██▊       | 254/900 [12:05<12:08,  1.13s/it]
 28%|██▊       | 255/900 [12:05<09:14,  1.16it/s]
 28%|██▊       | 256/900 [12:06<07:13,  1.49it/s]
 29%|██▊       | 257/900 [12:22<58:16,  5.44s/it]
 29%|██▊       | 258/900 [12:22<41:36,  3.89s/it]
 29%|██▉       | 259/900 [12:23<29:55,  2.80s/it]
 29%|██▉       | 260/900 [12:23<21:44,  2.04s/it]
 29%|██▉       | 261/900 [12:23<16:04,  1.51s/it]
 29%|██▉       | 262/900 [12:23<12:07,  1.14s/it]
 29%|██▉       | 263/900 [12:24<09:19,  1.14it/s]
 29%|██▉       | 264/900 [12:24<07:21,  1.44it/s]
 29%|██▉       | 265/900 [12:42<1:03:29,  6.00s/it]
 30%|██▉       | 266/900 [12:43<45:12,  4.28s/it]  
 30%|██▉       | 267/900 [12:43<32:26,  3.07s/it]
 30%|██▉       | 268/900 [12:43<23:29,  2.23s/it]
 30%|██▉       | 269/900 [12:43<17:14,  1.64s/it]
 30%|███       | 270/900 [12:44<12:53,  1.23s/it]
 30%|███       | 271/900 [12:44<09:50,  1.06it/s]
 30%|███       | 272/900 [12:44<07:42,  1.36it/s]
 30%|███       | 273/900 [13:04<1:07:00,  6.41s/it]
 30%|███       | 274/900 [13:04<47:38,  4.57s/it]  
 31%|███       | 275/900 [13:04<34:05,  3.27s/it]
 31%|███       | 276/900 [13:05<24:38,  2.37s/it]
 31%|███       | 277/900 [13:05<18:02,  1.74s/it]
 31%|███       | 278/900 [13:05<13:24,  1.29s/it]
 31%|███       | 279/900 [13:05<10:10,  1.02it/s]
 31%|███       | 280/900 [13:06<07:55,  1.30it/s]
 31%|███       | 281/900 [13:24<1:02:48,  6.09s/it]
 31%|███▏      | 282/900 [13:24<44:43,  4.34s/it]  
 31%|███▏      | 283/900 [13:25<32:01,  3.11s/it]
 32%|███▏      | 284/900 [13:25<23:09,  2.25s/it]
 32%|███▏      | 285/900 [13:25<16:57,  1.65s/it]
 32%|███▏      | 286/900 [13:25<12:41,  1.24s/it]
 32%|███▏      | 287/900 [13:26<09:42,  1.05it/s]
 32%|███▏      | 288/900 [13:26<07:34,  1.35it/s]
 32%|███▏      | 289/900 [13:45<1:02:32,  6.14s/it]
 32%|███▏      | 290/900 [13:45<44:31,  4.38s/it]  
 32%|███▏      | 291/900 [13:45<31:55,  3.15s/it]
 32%|███▏      | 292/900 [13:46<23:07,  2.28s/it]
 33%|███▎      | 293/900 [13:46<16:57,  1.68s/it]
 33%|███▎      | 294/900 [13:46<12:39,  1.25s/it]
 33%|███▎      | 295/900 [13:46<09:36,  1.05it/s]
 33%|███▎      | 296/900 [13:47<07:28,  1.35it/s]
 33%|███▎      | 297/900 [14:08<1:09:22,  6.90s/it]
 33%|███▎      | 298/900 [14:08<49:14,  4.91s/it]  
 33%|███▎      | 299/900 [14:08<35:08,  3.51s/it]
 33%|███▎      | 300/900 [14:09<25:18,  2.53s/it]
 33%|███▎      | 301/900 [14:09<18:27,  1.85s/it]
 34%|███▎      | 302/900 [14:09<13:38,  1.37s/it]
 34%|███▎      | 303/900 [14:09<10:16,  1.03s/it]
 34%|███▍      | 304/900 [14:10<07:54,  1.25it/s]
 34%|███▍      | 305/900 [14:29<1:03:03,  6.36s/it]
 34%|███▍      | 306/900 [14:29<44:49,  4.53s/it]  
 34%|███▍      | 307/900 [14:29<32:02,  3.24s/it]
 34%|███▍      | 308/900 [14:30<23:06,  2.34s/it]
 34%|███▍      | 308/900 [14:30<27:53,  2.83s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json.
+BananaThenRubiksCubeTask_2 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_2, run: 2, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 309, duration: 20.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.955049446786566, 'joint_sparc_mean': -9.35433800811691, 'ee_isj': 1223.3645761024493, 'joint_isj': 14857.322423866803, 'ee_path_length': 2.2645382327534116, 'joint_rmse_mean': 1.1800156244026976, 'ee_speed_max': 0.44763052463531494, 'ee_speed_mean': 0.10528695583343506}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 802.957, 'policy_inference_avg_ms': 2598.6, 'env_step_s': 64.583, 'env_step_avg_ms': 209.0, 'video_write_s': 2.828, 'video_write_avg_ms': 9.2, 'wall_total_s': 870.368, 'it_per_sec': 0.36}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: abd4af2413834cd2997fda6f271f2a22-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T21:08:59Z [3,136,243ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.187536 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T21:09:02Z [3,138,352ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T21:09:02Z [3,138,457ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:09:02Z [3,138,457ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:09:02Z [3,138,466ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:09:02Z [3,138,467ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:09:02Z [3,138,475ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:09:02Z [3,138,483ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T21:09:04Z [3,140,914ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((629))' not available in the MDL representation.
+2026-11-03T21:09:04Z [3,140,914ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((629))' not available in the MDL representation.
+2026-11-03T21:09:04Z [3,140,921ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((632))' not available in the MDL representation.
+2026-11-03T21:09:04Z [3,140,921ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((632))' not available in the MDL representation.
+2026-11-03T21:09:04Z [3,140,932ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((637))' not available in the MDL representation.
+2026-11-03T21:09:04Z [3,140,932ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((637))' not available in the MDL representation.
+2026-11-03T21:09:04Z [3,140,995ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((658))' not available in the MDL representation.
+2026-11-03T21:09:04Z [3,140,995ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((658))' not available in the MDL representation.
+2026-11-03T21:09:05Z [3,141,880ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((629))' not available in the MDL representation.
+2026-11-03T21:09:05Z [3,141,880ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((629))' not available in the MDL representation.
+2026-11-03T21:09:05Z [3,141,880ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((632))' not available in the MDL representation.
+2026-11-03T21:09:05Z [3,141,881ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((632))' not available in the MDL representation.
+2026-11-03T21:09:05Z [3,141,881ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((637))' not available in the MDL representation.
+2026-11-03T21:09:05Z [3,141,881ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((637))' not available in the MDL representation.
+2026-11-03T21:09:05Z [3,141,883ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((658))' not available in the MDL representation.
+2026-11-03T21:09:05Z [3,141,883ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((658))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.561272 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1CansTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack canned foods into the bin                │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1CansTaskSceneEnvCfg               │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1CansTask_0: 'Pack canned foods into the bin' (run 0, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:05<16:26:40, 65.85s/it]
  0%|          | 2/900 [01:06<6:48:07, 27.27s/it] 
  0%|          | 3/900 [01:06<3:43:15, 14.93s/it]
  0%|          | 4/900 [01:06<2:16:34,  9.15s/it]
  1%|          | 5/900 [01:06<1:28:37,  5.94s/it]
  1%|          | 6/900 [01:07<59:41,  4.01s/it]  
  1%|          | 7/900 [01:07<41:21,  2.78s/it]
  1%|          | 8/900 [01:07<29:19,  1.97s/it]
  1%|          | 9/900 [01:21<1:26:40,  5.84s/it]
  1%|          | 10/900 [01:22<1:01:02,  4.12s/it]
  1%|          | 11/900 [01:22<43:30,  2.94s/it]  
  1%|▏         | 12/900 [01:22<31:25,  2.12s/it]
  1%|▏         | 13/900 [01:23<23:03,  1.56s/it]
  2%|▏         | 14/900 [01:23<17:13,  1.17s/it]
  2%|▏         | 15/900 [01:23<13:08,  1.12it/s]
  2%|▏         | 16/900 [01:23<10:15,  1.44it/s]
  2%|▏         | 17/900 [01:39<1:18:23,  5.33s/it]
  2%|▏         | 18/900 [01:40<55:53,  3.80s/it]  
  2%|▏         | 19/900 [01:40<40:10,  2.74s/it]
  2%|▏         | 20/900 [01:40<29:12,  1.99s/it]
  2%|▏         | 21/900 [01:40<21:32,  1.47s/it]
  2%|▏         | 22/900 [01:41<16:09,  1.10s/it]
  3%|▎         | 23/900 [01:41<12:21,  1.18it/s]
  3%|▎         | 24/900 [01:41<09:43,  1.50it/s]
  3%|▎         | 25/900 [02:05<1:53:19,  7.77s/it]
  3%|▎         | 26/900 [02:06<1:20:18,  5.51s/it]
  3%|▎         | 27/900 [02:06<57:15,  3.93s/it]  
  3%|▎         | 28/900 [02:06<41:07,  2.83s/it]
  3%|▎         | 29/900 [02:06<29:49,  2.05s/it]
  3%|▎         | 30/900 [02:07<21:54,  1.51s/it]
  3%|▎         | 31/900 [02:07<16:23,  1.13s/it]
  4%|▎         | 32/900 [02:07<12:37,  1.15it/s]
  4%|▎         | 33/900 [02:27<1:32:36,  6.41s/it]
  4%|▍         | 34/900 [02:27<1:05:51,  4.56s/it]
  4%|▍         | 35/900 [02:27<47:10,  3.27s/it]  
  4%|▍         | 36/900 [02:27<34:05,  2.37s/it]
  4%|▍         | 37/900 [02:28<24:57,  1.74s/it]
  4%|▍         | 38/900 [02:28<18:35,  1.29s/it]
  4%|▍         | 39/900 [02:28<14:11,  1.01it/s]
  4%|▍         | 40/900 [02:28<11:06,  1.29it/s]
  5%|▍         | 41/900 [02:40<55:33,  3.88s/it]
  5%|▍         | 42/900 [02:40<40:01,  2.80s/it]
  5%|▍         | 43/900 [02:40<29:11,  2.04s/it]
  5%|▍         | 44/900 [02:40<21:37,  1.52s/it]
  5%|▌         | 45/900 [02:41<16:19,  1.15s/it]
  5%|▌         | 46/900 [02:41<12:37,  1.13it/s]
  5%|▌         | 47/900 [02:41<10:01,  1.42it/s]
  5%|▌         | 48/900 [02:42<08:13,  1.73it/s]
  5%|▌         | 49/900 [03:04<1:40:57,  7.12s/it]
  6%|▌         | 50/900 [03:04<1:11:49,  5.07s/it]
  6%|▌         | 51/900 [03:04<51:24,  3.63s/it]  
  6%|▌         | 52/900 [03:05<37:08,  2.63s/it]
  6%|▌         | 53/900 [03:05<27:12,  1.93s/it]
  6%|▌         | 54/900 [03:05<20:14,  1.44s/it]
  6%|▌         | 55/900 [03:06<15:19,  1.09s/it]
  6%|▌         | 56/900 [03:06<11:54,  1.18it/s]
  6%|▋         | 57/900 [03:18<59:18,  4.22s/it]
  6%|▋         | 58/900 [03:18<42:39,  3.04s/it]
  7%|▋         | 59/900 [03:19<30:56,  2.21s/it]
  7%|▋         | 60/900 [03:19<22:47,  1.63s/it]
  7%|▋         | 61/900 [03:19<17:06,  1.22s/it]
  7%|▋         | 62/900 [03:19<13:08,  1.06it/s]
  7%|▋         | 63/900 [03:20<10:20,  1.35it/s]
  7%|▋         | 64/900 [03:20<08:20,  1.67it/s]
  7%|▋         | 65/900 [03:35<1:06:53,  4.81s/it]
  7%|▋         | 66/900 [03:35<47:54,  3.45s/it]  
  7%|▋         | 67/900 [03:35<34:34,  2.49s/it]
  7%|▋         | 67/900 [03:35<44:44,  3.22s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json.
+FoodPacking1CansTask_0 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_0, run: 0, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 68, duration: 4.533333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.968889615917461, 'joint_sparc_mean': -3.3738772281201928, 'ee_isj': 343.6670691216425, 'joint_isj': 5140.932996297476, 'ee_path_length': 0.81316809003808, 'joint_rmse_mean': 0.8633598035462132, 'ee_speed_max': 0.4076113700866699, 'ee_speed_mean': 0.16848385334014893}, events: {'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 198.913, 'policy_inference_avg_ms': 2925.2, 'env_step_s': 15.699, 'env_step_avg_ms': 230.9, 'video_write_s': 1.248, 'video_write_avg_ms': 18.3, 'wall_total_s': 215.86, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 650c806af996492688e9a7b36a9e90b3-0
+[RoboLab] Running FoodPacking1CansTask_1: 'Pack canned foods into the bin' (run 1, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [01:09<17:16:27, 69.17s/it]
  0%|          | 2/900 [01:09<7:08:42, 28.64s/it] 
  0%|          | 3/900 [01:09<3:54:27, 15.68s/it]
  0%|          | 4/900 [01:09<2:23:11,  9.59s/it]
  1%|          | 5/900 [01:10<1:32:46,  6.22s/it]
  1%|          | 6/900 [01:10<1:02:22,  4.19s/it]
  1%|          | 7/900 [01:10<43:08,  2.90s/it]  
  1%|          | 8/900 [01:10<30:32,  2.05s/it]
  1%|          | 9/900 [01:34<2:08:52,  8.68s/it]
  1%|          | 10/900 [01:34<1:30:06,  6.07s/it]
  1%|          | 11/900 [01:34<1:03:33,  4.29s/it]
  1%|▏         | 12/900 [01:34<45:20,  3.06s/it]  
  1%|▏         | 13/900 [01:35<32:44,  2.21s/it]
  2%|▏         | 14/900 [01:35<24:00,  1.63s/it]
  2%|▏         | 15/900 [01:35<17:54,  1.21s/it]
  2%|▏         | 16/900 [01:35<13:39,  1.08it/s]
  2%|▏         | 17/900 [01:49<1:10:12,  4.77s/it]
  2%|▏         | 18/900 [01:49<50:10,  3.41s/it]  
  2%|▏         | 19/900 [01:50<36:09,  2.46s/it]
  2%|▏         | 20/900 [01:50<26:22,  1.80s/it]
  2%|▏         | 21/900 [01:50<19:32,  1.33s/it]
  2%|▏         | 22/900 [01:50<14:45,  1.01s/it]
  3%|▎         | 23/900 [01:51<11:26,  1.28it/s]
  3%|▎         | 24/900 [01:51<09:14,  1.58it/s]
  3%|▎         | 25/900 [02:11<1:33:24,  6.41s/it]
  3%|▎         | 26/900 [02:11<1:06:31,  4.57s/it]
  3%|▎         | 27/900 [02:11<47:44,  3.28s/it]  
  3%|▎         | 28/900 [02:12<34:41,  2.39s/it]
  3%|▎         | 29/900 [02:12<25:27,  1.75s/it]
  3%|▎         | 30/900 [02:12<18:59,  1.31s/it]
  3%|▎         | 31/900 [02:13<14:26,  1.00it/s]
  4%|▎         | 32/900 [02:13<11:16,  1.28it/s]
  4%|▎         | 33/900 [02:23<51:52,  3.59s/it]
  4%|▍         | 34/900 [02:23<37:29,  2.60s/it]
  4%|▍         | 35/900 [02:23<27:24,  1.90s/it]
  4%|▍         | 36/900 [02:24<20:19,  1.41s/it]
  4%|▍         | 37/900 [02:24<15:22,  1.07s/it]
  4%|▍         | 38/900 [02:24<11:53,  1.21it/s]
  4%|▍         | 39/900 [02:25<09:29,  1.51it/s]
  4%|▍         | 40/900 [02:25<07:49,  1.83it/s]
  5%|▍         | 41/900 [02:41<1:15:21,  5.26s/it]
  5%|▍         | 42/900 [02:41<53:52,  3.77s/it]  
  5%|▍         | 43/900 [02:42<38:53,  2.72s/it]
  5%|▍         | 44/900 [02:42<28:22,  1.99s/it]
  5%|▌         | 45/900 [02:42<21:04,  1.48s/it]
  5%|▌         | 46/900 [02:43<15:58,  1.12s/it]
  5%|▌         | 47/900 [02:43<12:25,  1.14it/s]
  5%|▌         | 48/900 [02:43<09:56,  1.43it/s]
  5%|▌         | 49/900 [02:57<1:07:41,  4.77s/it]
  6%|▌         | 50/900 [02:58<48:30,  3.42s/it]  
  6%|▌         | 51/900 [02:58<35:03,  2.48s/it]
  6%|▌         | 52/900 [02:58<25:41,  1.82s/it]
  6%|▌         | 53/900 [02:58<19:06,  1.35s/it]
  6%|▌         | 54/900 [02:59<14:31,  1.03s/it]
  6%|▌         | 55/900 [02:59<11:18,  1.24it/s]
  6%|▌         | 56/900 [02:59<09:02,  1.56it/s]
  6%|▋         | 57/900 [03:19<1:27:47,  6.25s/it]
  6%|▋         | 58/900 [03:19<1:02:31,  4.46s/it]
  7%|▋         | 59/900 [03:19<44:51,  3.20s/it]  
  7%|▋         | 60/900 [03:19<32:31,  2.32s/it]
  7%|▋         | 61/900 [03:20<23:53,  1.71s/it]
  7%|▋         | 61/900 [03:20<45:58,  3.29s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json.
+FoodPacking1CansTask_1 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_1, run: 1, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 62, duration: 4.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.0945860834123096, 'joint_sparc_mean': -2.8003159339783523, 'ee_isj': 934.9027988820667, 'joint_isj': 9214.24829784768, 'ee_path_length': 1.0270338729994595, 'joint_rmse_mean': 0.8719224884807474, 'ee_speed_max': 0.753869891166687, 'ee_speed_mean': 0.23900894820690155}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 184.886, 'policy_inference_avg_ms': 2982.0, 'env_step_s': 14.453, 'env_step_avg_ms': 233.1, 'video_write_s': 1.213, 'video_write_avg_ms': 19.6, 'wall_total_s': 200.552, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 6efefab741224b628b713d650aa05fd9-1
+[RoboLab] Running FoodPacking1CansTask_2: 'Pack canned foods into the bin' (run 2, 1 envs)
+
  0%|          | 0/900 [00:00<?, ?it/s]
  0%|          | 1/900 [00:54<13:33:03, 54.26s/it]
  0%|          | 2/900 [00:54<5:36:38, 22.49s/it] 
  0%|          | 3/900 [00:54<3:04:22, 12.33s/it]
  0%|          | 4/900 [00:55<1:52:54,  7.56s/it]
  1%|          | 5/900 [00:55<1:13:25,  4.92s/it]
  1%|          | 6/900 [00:55<49:38,  3.33s/it]  
  1%|          | 7/900 [00:55<34:33,  2.32s/it]
  1%|          | 8/900 [00:55<24:41,  1.66s/it]
  1%|          | 9/900 [01:05<1:02:24,  4.20s/it]
  1%|          | 10/900 [01:06<44:13,  2.98s/it] 
  1%|          | 11/900 [01:06<31:46,  2.14s/it]
  1%|▏         | 12/900 [01:06<23:11,  1.57s/it]
  1%|▏         | 13/900 [01:06<17:17,  1.17s/it]
  2%|▏         | 14/900 [01:07<13:09,  1.12it/s]
  2%|▏         | 15/900 [01:07<10:18,  1.43it/s]
  2%|▏         | 16/900 [01:07<08:16,  1.78it/s]
  2%|▏         | 17/900 [01:21<1:07:19,  4.57s/it]
  2%|▏         | 18/900 [01:21<48:09,  3.28s/it]  
  2%|▏         | 19/900 [01:21<34:44,  2.37s/it]
  2%|▏         | 20/900 [01:22<25:22,  1.73s/it]
  2%|▏         | 21/900 [01:22<18:49,  1.28s/it]
  2%|▏         | 22/900 [01:22<14:12,  1.03it/s]
  3%|▎         | 23/900 [01:22<10:58,  1.33it/s]
  3%|▎         | 24/900 [01:23<08:42,  1.68it/s]
  3%|▎         | 25/900 [01:32<45:35,  3.13s/it]
  3%|▎         | 26/900 [01:32<32:57,  2.26s/it]
  3%|▎         | 27/900 [01:32<24:07,  1.66s/it]
  3%|▎         | 28/900 [01:32<17:57,  1.24s/it]
  3%|▎         | 29/900 [01:33<13:38,  1.06it/s]
  3%|▎         | 30/900 [01:33<10:38,  1.36it/s]
  3%|▎         | 31/900 [01:33<08:34,  1.69it/s]
  4%|▎         | 32/900 [01:33<07:05,  2.04it/s]
  4%|▎         | 33/900 [01:57<1:48:26,  7.50s/it]
  4%|▍         | 34/900 [01:58<1:16:52,  5.33s/it]
  4%|▍         | 35/900 [01:58<54:47,  3.80s/it]  
  4%|▍         | 36/900 [01:58<39:22,  2.73s/it]
  4%|▍         | 37/900 [01:58<28:33,  1.99s/it]
  4%|▍         | 38/900 [01:59<21:05,  1.47s/it]
  4%|▍         | 39/900 [01:59<15:52,  1.11s/it]
  4%|▍         | 40/900 [01:59<12:07,  1.18it/s]
  5%|▍         | 41/900 [02:20<1:38:06,  6.85s/it]
  5%|▍         | 42/900 [02:20<1:09:41,  4.87s/it]
  5%|▍         | 43/900 [02:20<49:50,  3.49s/it]  
  5%|▍         | 44/900 [02:21<36:00,  2.52s/it]
  5%|▌         | 45/900 [02:21<26:20,  1.85s/it]
  5%|▌         | 46/900 [02:21<19:32,  1.37s/it]
  5%|▌         | 47/900 [02:21<14:47,  1.04s/it]
  5%|▌         | 48/900 [02:22<11:27,  1.24it/s]
  5%|▌         | 49/900 [02:43<1:36:41,  6.82s/it]
  6%|▌         | 50/900 [02:43<1:08:44,  4.85s/it]
  6%|▌         | 51/900 [02:43<49:10,  3.48s/it]  
  6%|▌         | 52/900 [02:43<35:29,  2.51s/it]
  6%|▌         | 53/900 [02:44<25:57,  1.84s/it]
  6%|▌         | 54/900 [02:44<19:17,  1.37s/it]
  6%|▌         | 55/900 [02:44<14:38,  1.04s/it]
  6%|▌         | 56/900 [02:44<11:22,  1.24it/s]
  6%|▋         | 57/900 [02:59<1:09:07,  4.92s/it]
  6%|▋         | 58/900 [02:59<49:28,  3.53s/it]  
  7%|▋         | 59/900 [03:00<35:46,  2.55s/it]
  7%|▋         | 60/900 [03:00<26:08,  1.87s/it]
  7%|▋         | 61/900 [03:00<19:25,  1.39s/it]
  7%|▋         | 62/900 [03:00<14:48,  1.06s/it]
  7%|▋         | 63/900 [03:01<11:33,  1.21it/s]
  7%|▋         | 64/900 [03:01<09:17,  1.50it/s]
  7%|▋         | 65/900 [03:14<1:01:11,  4.40s/it]
  7%|▋         | 66/900 [03:14<43:58,  3.16s/it]  
  7%|▋         | 67/900 [03:15<31:54,  2.30s/it]
  8%|▊         | 68/900 [03:15<23:28,  1.69s/it]
  8%|▊         | 69/900 [03:15<17:29,  1.26s/it]
  8%|▊         | 70/900 [03:15<13:16,  1.04it/s]
  8%|▊         | 71/900 [03:16<10:18,  1.34it/s]
  8%|▊         | 72/900 [03:16<08:14,  1.67it/s]
  8%|▊         | 73/900 [03:37<1:33:50,  6.81s/it]
  8%|▊         | 74/900 [03:37<1:06:38,  4.84s/it]
  8%|▊         | 75/900 [03:38<47:37,  3.46s/it]  
  8%|▊         | 76/900 [03:38<34:19,  2.50s/it]
  9%|▊         | 77/900 [03:38<25:01,  1.82s/it]
  9%|▊         | 78/900 [03:38<18:31,  1.35s/it]
  9%|▉         | 79/900 [03:39<13:59,  1.02s/it]
  9%|▉         | 80/900 [03:39<10:47,  1.27it/s]
  9%|▉         | 81/900 [03:51<58:45,  4.31s/it]
  9%|▉         | 82/900 [03:52<42:07,  3.09s/it]
  9%|▉         | 83/900 [03:52<30:29,  2.24s/it]
  9%|▉         | 84/900 [03:52<22:21,  1.64s/it]
  9%|▉         | 85/900 [03:52<16:39,  1.23s/it]
 10%|▉         | 86/900 [03:53<12:39,  1.07it/s]
 10%|▉         | 87/900 [03:53<09:55,  1.37it/s]
 10%|▉         | 88/900 [03:53<07:59,  1.69it/s]
 10%|▉         | 89/900 [04:19<1:49:23,  8.09s/it]
 10%|█         | 90/900 [04:19<1:17:28,  5.74s/it]
 10%|█         | 91/900 [04:19<55:08,  4.09s/it]  
 10%|█         | 92/900 [04:20<39:32,  2.94s/it]
 10%|█         | 93/900 [04:20<28:38,  2.13s/it]
 10%|█         | 94/900 [04:20<21:01,  1.56s/it]
 11%|█         | 95/900 [04:20<15:42,  1.17s/it]
 11%|█         | 96/900 [04:21<11:59,  1.12it/s]
 11%|█         | 97/900 [04:48<1:59:14,  8.91s/it]
 11%|█         | 98/900 [04:48<1:24:21,  6.31s/it]
 11%|█         | 99/900 [04:49<59:58,  4.49s/it]  
 11%|█         | 100/900 [04:49<42:56,  3.22s/it]
 11%|█         | 101/900 [04:49<31:05,  2.33s/it]
 11%|█▏        | 102/900 [04:49<22:48,  1.72s/it]
 11%|█▏        | 103/900 [04:50<17:03,  1.28s/it]
 12%|█▏        | 104/900 [04:50<13:01,  1.02it/s]
 12%|█▏        | 105/900 [05:04<1:05:36,  4.95s/it]
 12%|█▏        | 106/900 [05:05<46:58,  3.55s/it]  
 12%|█▏        | 107/900 [05:05<33:55,  2.57s/it]
 12%|█▏        | 108/900 [05:05<24:47,  1.88s/it]
 12%|█▏        | 109/900 [05:05<18:24,  1.40s/it]
 12%|█▏        | 110/900 [05:06<13:57,  1.06s/it]
 12%|█▏        | 111/900 [05:06<10:51,  1.21it/s]
 12%|█▏        | 112/900 [05:06<08:39,  1.52it/s]
 13%|█▎        | 113/900 [05:19<55:47,  4.25s/it]
 13%|█▎        | 114/900 [05:19<40:05,  3.06s/it]
 13%|█▎        | 115/900 [05:19<29:06,  2.22s/it]
 13%|█▎        | 116/900 [05:20<21:25,  1.64s/it]
 13%|█▎        | 117/900 [05:20<16:00,  1.23s/it]
 13%|█▎        | 118/900 [05:20<12:10,  1.07it/s]
 13%|█▎        | 119/900 [05:20<09:28,  1.37it/s]
 13%|█▎        | 120/900 [05:21<07:35,  1.71it/s]
 13%|█▎        | 121/900 [05:39<1:16:24,  5.89s/it]
 14%|█▎        | 122/900 [05:39<54:24,  4.20s/it]  
 14%|█▎        | 123/900 [05:39<39:04,  3.02s/it]
 14%|█▍        | 124/900 [05:40<28:17,  2.19s/it]
 14%|█▍        | 125/900 [05:40<20:44,  1.61s/it]
 14%|█▍        | 126/900 [05:40<15:28,  1.20s/it]
 14%|█▍        | 127/900 [05:40<11:46,  1.09it/s]
 14%|█▍        | 128/900 [05:41<09:10,  1.40it/s]
 14%|█▍        | 129/900 [05:59<1:17:30,  6.03s/it]
 14%|█▍        | 130/900 [05:59<55:08,  4.30s/it]  
 15%|█▍        | 131/900 [06:00<39:30,  3.08s/it]
 15%|█▍        | 132/900 [06:00<28:34,  2.23s/it]
 15%|█▍        | 133/900 [06:00<20:55,  1.64s/it]
 15%|█▍        | 134/900 [06:00<15:34,  1.22s/it]
 15%|█▌        | 135/900 [06:01<11:51,  1.08it/s]
 15%|█▌        | 136/900 [06:01<09:13,  1.38it/s]
 15%|█▌        | 137/900 [06:42<2:45:08, 12.99s/it]
 15%|█▌        | 138/900 [06:43<1:56:22,  9.16s/it]
 15%|█▌        | 139/900 [06:43<1:22:20,  6.49s/it]
 16%|█▌        | 140/900 [06:43<58:31,  4.62s/it]  
 16%|█▌        | 141/900 [06:43<41:50,  3.31s/it]
 16%|█▌        | 142/900 [06:44<30:11,  2.39s/it]
 16%|█▌        | 143/900 [06:44<22:03,  1.75s/it]
 16%|█▌        | 144/900 [06:44<16:21,  1.30s/it]
 16%|█▌        | 145/900 [07:03<1:22:01,  6.52s/it]
 16%|█▌        | 146/900 [07:03<58:15,  4.64s/it]  
 16%|█▋        | 147/900 [07:03<41:39,  3.32s/it]
 16%|█▋        | 148/900 [07:04<30:03,  2.40s/it]
 17%|█▋        | 149/900 [07:04<21:55,  1.75s/it]
 17%|█▋        | 150/900 [07:04<16:15,  1.30s/it]
 17%|█▋        | 151/900 [07:04<12:16,  1.02it/s]
 17%|█▋        | 152/900 [07:05<09:31,  1.31it/s]
 17%|█▋        | 153/900 [07:22<1:12:03,  5.79s/it]
 17%|█▋        | 154/900 [07:22<51:22,  4.13s/it]  
 17%|█▋        | 155/900 [07:23<36:54,  2.97s/it]
 17%|█▋        | 156/900 [07:23<26:49,  2.16s/it]
 17%|█▋        | 157/900 [07:23<19:47,  1.60s/it]
 18%|█▊        | 158/900 [07:23<14:54,  1.21s/it]
 18%|█▊        | 159/900 [07:24<11:27,  1.08it/s]
 18%|█▊        | 160/900 [07:24<09:02,  1.36it/s]
 18%|█▊        | 161/900 [07:38<59:16,  4.81s/it]
 18%|█▊        | 162/900 [07:39<42:29,  3.46s/it]
 18%|█▊        | 163/900 [07:39<30:46,  2.51s/it]
 18%|█▊        | 164/900 [07:39<22:33,  1.84s/it]
 18%|█▊        | 165/900 [07:40<16:49,  1.37s/it]
 18%|█▊        | 166/900 [07:40<12:48,  1.05s/it]
 19%|█▊        | 167/900 [07:40<09:57,  1.23it/s]
 19%|█▊        | 168/900 [07:40<07:54,  1.54it/s]
 19%|█▉        | 169/900 [08:04<1:32:11,  7.57s/it]
 19%|█▉        | 170/900 [08:04<1:05:21,  5.37s/it]
 19%|█▉        | 171/900 [08:05<46:37,  3.84s/it]  
 19%|█▉        | 172/900 [08:05<33:29,  2.76s/it]
 19%|█▉        | 173/900 [08:05<24:19,  2.01s/it]
 19%|█▉        | 174/900 [08:05<17:54,  1.48s/it]
 19%|█▉        | 175/900 [08:06<13:28,  1.11s/it]
 20%|█▉        | 176/900 [08:06<10:23,  1.16it/s]
 20%|█▉        | 177/900 [08:24<1:13:35,  6.11s/it]
 20%|█▉        | 178/900 [08:24<52:26,  4.36s/it]  
 20%|█▉        | 179/900 [08:25<37:38,  3.13s/it]
 20%|██        | 180/900 [08:25<27:16,  2.27s/it]
 20%|██        | 181/900 [08:25<20:00,  1.67s/it]
 20%|██        | 182/900 [08:26<14:52,  1.24s/it]
 20%|██        | 183/900 [08:26<11:18,  1.06it/s]
 20%|██        | 184/900 [08:26<08:47,  1.36it/s]
 21%|██        | 185/900 [08:42<1:04:30,  5.41s/it]
 21%|██        | 186/900 [08:43<45:59,  3.86s/it]  
 21%|██        | 187/900 [08:43<33:01,  2.78s/it]
 21%|██        | 188/900 [08:43<23:58,  2.02s/it]
 21%|██        | 189/900 [08:43<17:39,  1.49s/it]
 21%|██        | 190/900 [08:44<13:14,  1.12s/it]
 21%|██        | 191/900 [08:44<10:09,  1.16it/s]
 21%|██▏       | 192/900 [08:44<07:59,  1.48it/s]
 21%|██▏       | 193/900 [09:08<1:29:44,  7.62s/it]
 22%|██▏       | 194/900 [09:08<1:03:36,  5.41s/it]
 22%|██▏       | 195/900 [09:08<45:19,  3.86s/it]  
 22%|██▏       | 196/900 [09:09<32:32,  2.77s/it]
 22%|██▏       | 197/900 [09:09<23:36,  2.02s/it]
 22%|██▏       | 198/900 [09:09<17:22,  1.48s/it]
 22%|██▏       | 199/900 [09:09<13:00,  1.11s/it]
 22%|██▏       | 200/900 [09:10<09:58,  1.17it/s]
 22%|██▏       | 201/900 [09:26<1:04:10,  5.51s/it]
 22%|██▏       | 202/900 [09:26<45:48,  3.94s/it]  
 23%|██▎       | 203/900 [09:27<32:58,  2.84s/it]
 23%|██▎       | 204/900 [09:27<23:59,  2.07s/it]
 23%|██▎       | 205/900 [09:27<17:44,  1.53s/it]
 23%|██▎       | 206/900 [09:27<13:21,  1.15s/it]
 23%|██▎       | 207/900 [09:28<10:16,  1.12it/s]
 23%|██▎       | 208/900 [09:28<08:08,  1.42it/s]
 23%|██▎       | 209/900 [09:46<1:08:13,  5.92s/it]
 23%|██▎       | 210/900 [09:46<48:37,  4.23s/it]  
 23%|██▎       | 211/900 [09:47<34:54,  3.04s/it]
 24%|██▎       | 212/900 [09:47<25:20,  2.21s/it]
 24%|██▎       | 213/900 [09:47<18:38,  1.63s/it]
 24%|██▍       | 214/900 [09:47<13:57,  1.22s/it]
 24%|██▍       | 215/900 [09:48<10:40,  1.07it/s]
 24%|██▍       | 216/900 [09:48<08:26,  1.35it/s]
 24%|██▍       | 217/900 [10:04<1:02:07,  5.46s/it]
 24%|██▍       | 218/900 [10:05<44:23,  3.91s/it]  
 24%|██▍       | 219/900 [10:05<31:58,  2.82s/it]
 24%|██▍       | 220/900 [10:05<23:18,  2.06s/it]
 25%|██▍       | 221/900 [10:06<17:14,  1.52s/it]
 25%|██▍       | 222/900 [10:06<13:00,  1.15s/it]
 25%|██▍       | 223/900 [10:06<10:01,  1.13it/s]
 25%|██▍       | 224/900 [10:06<07:55,  1.42it/s]
 25%|██▌       | 225/900 [10:23<1:01:02,  5.43s/it]
 25%|██▌       | 226/900 [10:23<43:34,  3.88s/it]  
 25%|██▌       | 227/900 [10:23<31:24,  2.80s/it]
 25%|██▌       | 228/900 [10:24<22:55,  2.05s/it]
 25%|██▌       | 229/900 [10:24<16:57,  1.52s/it]
 26%|██▌       | 230/900 [10:24<12:44,  1.14s/it]
 26%|██▌       | 231/900 [10:24<09:52,  1.13it/s]
 26%|██▌       | 232/900 [10:25<07:53,  1.41it/s]
 26%|██▌       | 233/900 [10:49<1:26:25,  7.77s/it]
 26%|██▌       | 234/900 [10:49<1:01:22,  5.53s/it]
 26%|██▌       | 235/900 [10:50<43:53,  3.96s/it]  
 26%|██▌       | 236/900 [10:50<31:38,  2.86s/it]
 26%|██▋       | 237/900 [10:50<23:03,  2.09s/it]
 26%|██▋       | 238/900 [10:50<17:04,  1.55s/it]
 27%|██▋       | 239/900 [10:51<12:53,  1.17s/it]
 27%|██▋       | 240/900 [10:51<10:03,  1.09it/s]
 27%|██▋       | 241/900 [11:11<1:11:36,  6.52s/it]
 27%|██▋       | 242/900 [11:11<50:59,  4.65s/it]  
 27%|██▋       | 243/900 [11:11<36:32,  3.34s/it]
 27%|██▋       | 244/900 [11:12<26:27,  2.42s/it]
 27%|██▋       | 245/900 [11:12<19:25,  1.78s/it]
 27%|██▋       | 246/900 [11:12<14:29,  1.33s/it]
 27%|██▋       | 246/900 [11:13<29:49,  2.74s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/log_2_env0.json.
+FoodPacking1CansTask_2 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 247, duration: 16.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.4652113463711105, 'joint_sparc_mean': -10.9899391436711, 'ee_isj': 949.278098895057, 'joint_isj': 75160.1760226885, 'ee_path_length': 1.8997273866761861, 'joint_rmse_mean': 0.9314426495767123, 'ee_speed_max': 0.49158406257629395, 'ee_speed_mean': 0.10997264087200165}, events: {'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 9}, instruction_type: default, timing: {'policy_inference_s': 614.681, 'policy_inference_avg_ms': 2488.6, 'env_step_s': 55.812, 'env_step_avg_ms': 226.0, 'video_write_s': 2.452, 'video_write_avg_ms': 9.9, 'wall_total_s': 672.944, 'it_per_sec': 0.37}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: eb6b23bf393046088b6f16fd19088ae0-2
+----------------------------------------------------------------------- EXPERIMENT SUMMARY ------------------------------------------------------------------------
+Task Name                       Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (5 tasks)                 15/15    100.0%  [79.4-99.8]    1.000        -           14.87   -5.82    2.00       14.2        0.31 12.3       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaThenRubiksCubeTask        3/3      100.0%  [39.8-99.4]    1.000        -           18.91   -6.47    2.12       10.8        0.34 13.8       
+BlockStackingSpecifiedOrderTask 3/3      100.0%  [39.8-99.4]    1.000        -           21.51   -7.07    2.93       12.7        0.33 16.3       
+FoodPacking1CansTask            3/3      100.0%  [39.8-99.4]    1.000        -           8.38    -4.84    1.25       17.2        0.33 6.1        
+FruitsOnionToPlateTask          3/3      100.0%  [39.8-99.4]    1.000        -           10.73   -4.26    1.74       15.5        0.26 10.6       
+ReorientRedMugTask              3/3      100.0%  [39.8-99.4]    1.000        -           14.82   -6.46    1.94       14.9        0.26 14.9       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..95db19287196eb5c65acdc1d07f17b0fa9010157
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af56aaada38bf4f83f5c3f3f58a3a4c140e75b910b5860a2cb099ff737a6b91b
+size 17899
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..95166a7be26adfb1aaebfc998fc40462ad2c20b3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e76584b59eaf46319478d30a9a79aa425fbe34567c791ad2f3dcb69a0644248
+size 955927
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ad92767be27e1c6a9d1c3c27bf9afcba2b8e256
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a67de1761e26119e925ce4bdf5f36fafa0877ce8f8b612c18ebb18a4c9a0bd7
+size 50674034
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c503f10fbf686fabcaf30b4c02ee30b2f2cc24e8
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cda6e476c9c5d6f9026b8f654b6f0072e98fb3472af1bfaa3ec6a4f56ea2854
+size 9404
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..19d182616f5d19aa3b08f7e41d24fa65ca36709a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5c6ed5aee87547fe56742087ec3f11e5cd316b3d20a3c5f408c7abc73ca0123
+size 38675754
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4c18781be3e1cca285d44c23d4ace917f5b727
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d8851ce74112108023332acd706df7cf185a772765ad8ef2e86fa9b32f46ac8
+size 6884
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cc87e4783d5f935ceaebf317f14fc08d600d5b9d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dba59aea967e5aa61e4ff59a76b0320512de56222b68eefdf33b5f25a1c3b471
+size 31343834
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8987a212dce916e88176fd8c52cbe48040cdfb3a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81fac1673917019a2469124c0cad0d81c7fdc9b0c8997de06e6b5c16f2643e43
+size 6514
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ae6faee2dae3317fd8c529b495a4fe5f900f7be4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7138c33f5b68e1f10febfaf57de47e75c4becc6a1b7d5f4dced00693050f35
+size 77288139
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57632c8ca81f073240c6928d7a04d9fbb23f5b48
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e22a09ef99f74194f5fa31b64f1ddc5afc621e5cde80db8d5300925bac72dfd
+size 14225
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6afe8bd755226db8e577ec06a292ef248fb06d9c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26c5ef80c102b1b14b6d59ae7e8e2c3c0454604863ac82c63e8563be3fa2fd0d
+size 77791607
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c89b805cbe8bc21cf23b1539da42f63c5b3450b3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ceeacf8d43e1f92d3946c3e18745eb611c47f21ff699dd7f3e46dc355cc31c4
+size 13044
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..86ae846b5bdbdeccc238fc2de5730fc70b8b5a87
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d02aaa35b04b8c7c78038c623ae69399810d8b9a7050c32cbde25e113dd7226c
+size 79196971
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..974e837803875918637255088cfaa826d5a4b200
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea8d98f93988d4270216a540ecce3513384cc81a40390ca0c52b942d414163b2
+size 13044
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2cf74e1eec06480be4b723be9098012dbd8b7eb6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff74e52edf6cc4f97deae8158853b2b99e95b90d49d12753e664a8a87e4a18aa
+size 94110444
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0aff8ba8117c1ac89e66bf78acaa9bdc6f5763f9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0818cf101cb1a30f0acb0947954398e547464a8c3eb14fd7e5b20ff210d82816
+size 16427
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0008/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0008/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..388395ca5e416e1f01259bbbb7a2ff6f028164b5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0008/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d64b5d3f7822b545e583f9be84c0040895833f8f9e184839d425bd3855d1fca
+size 32416569
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0008/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0008/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d7d2d51b63452b4b3b29d2042de1a94534fe3bbf
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0008/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcbbaf4becdd4005c817ee66c07aaa65451f147a92554623733da0984528cb9c
+size 6794
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0008/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0008/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0009/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0009/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bb1c2f17cdad90ab5caa696852d716ce52333278
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0009/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:648bb0d78f00e7bc746722de145c11afdb295acca08fb58bb6e366764f39fde9
+size 102741871
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0009/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0009/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d73e5ea1b0a640a9e836568f339932001483e55
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0009/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3b32682b84b1929c1cd6ac4e05b467a74501b8dbc948e5ed8f4ca891e1e9e3d
+size 22028
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0009/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval/episode-0009/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f9596318571ed851abfb9b087317e193c809b0c7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cf6dca25ed3aa43e10e04c4be31e9735d579d1d720931694ed4ee640ee21196
+size 2071
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..067f60ff4c848e3ae32b014cda76ef5a68b69dc1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfdc8e44c1f76e25c1ec8eb1c6af3d7f2c893b9860db432732d30679f3748d0e
+size 323894
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fc8707982ba3ec6cdf24722622078b483bad3ba6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db86b7fd79ca4f520c5f00d74b8cdf9a6d55a7ba129613102d09a1280f6c2ef8
+size 179758450
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e392ad7dd2b1f6ac1943f320cb2db95bdc02072
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f4ad0ec77c61cd1097e148762b676478f4f9e7928730bee6429f942264ff763
+size 24877
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..771a9818188614558fcd46729f8e5032aab3b644
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:686092a22635213cbf988ab3963e1d0272290d56fe04976a36b93542257b050c
+size 2062
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e2a2a486ae364f434651c6ed30121cee5bd971ce
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8cf30cecf63880e46c3903e183ad8475a71438b446fde532283908e93989a33
+size 174786
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b600a1347c1234ae730c98852d160657a518b566
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc941e8d76cbfd2938135ee97458240757e92573da7e6f21d7a561f6ac395b78
+size 99694391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf234e565f73c0d1ee9921c6529dd5f4cd4b986
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b17415c965548c56c795550e1c42b0c45eeeb08a6b3741b1be2a5fe47a7ff5da
+size 33355
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..10cde31f5c95e608305d72b7de7bef84886da5ce
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65bd0c97036f54a4fe61fc312229631b9f98798991bf571d2d25ea9abbb1cdb1
+size 13760
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..391ff124358fd8a8530c870db1b341eb86290871
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8293b3603b6c0a0be2983e4502e39bee3c2b01b41b9ab86d730ec769d7ed0bb
+size 511410
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0001/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a3071ab0017ebe997d07adf200d5bf4f6b6edaa
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0001/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1a5f0c26f0fea191a3b5f727a98392451090cb65cb68cea7264c2b1bfe5beb
+size 31502771
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0001/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f8d768d956764959e9a5de7726509381ab08772
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0001/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15e7c3cad4d714c207b3845ed4896a4c56266b6dafe5b275fe25507d42251e81
+size 6324
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0001/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0002/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fbf024bc2b3ad840606554918aab7697fb638cc3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0002/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78a318eb46c595246e31694f600f5d90bfd6311862fc5fdafa6eb26e9cc1e580
+size 45931718
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0002/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0002/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0a92d0574b8c673b2615930d3462d913dc109e6
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0002/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:395ebb0ffeb384a2bef09b978dfc5ba5c1a2388d338df37ff2a116f038261bc4
+size 9034
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0002/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0003/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3f9c282a53f82852323e879a54c3ae3544cbe0a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0003/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29e50ebb286be6b15fccc3f064283435735558a6d3be788b1c3db9aa95b87fc3
+size 74767998
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0003/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0003/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8dfca4fc1d60708c1e20e8f46d9686e7cc84376c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0003/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4467f8cfc2f338f19af4aa35b23b17816e0d7aebe55c4e97ccc5a137bba26855
+size 13324
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0003/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0003/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0004/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b708d63ac2afbcfca6979356bbd02bf5a4be068b
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0004/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:726aa2b997bbcd5d7930c1699816756fc38c70bd2d2d6409370722c4af25319b
+size 68931194
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0004/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0004/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5c6357cdaf27c457517cb44ee0545267df481334
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0004/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35b19412f9e917b821f6b86d8134ec232617e3f2c88c3e5a1185e433bcd3b05e
+size 12484
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0004/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0004/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0005/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0005/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54bf8a6f1038c9028abaebe72a55e36258e5e941
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0005/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d36e60a8731138c900ca552e4d8b2d8af29ab81b95ff782cfcc3d10e4dab767
+size 20346369
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0005/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0005/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a29a34379224a1625153702de39e04101edfe5c1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0005/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d8391644cd7de2bd02b81b07f245749df3aa6abc3cbc015b401c822d800286d
+size 4554
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0005/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0005/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0006/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0006/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..48bfb9b95580fd3b20b9f7562122124327128d4c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0006/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e901b936697fb531522dfe9f430e79402af467f179b9284df93167f0937e25
+size 18795005
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0006/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0006/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8c2f9336a79847c399c2d8f0cd1b28b236b18c4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0006/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb7db73c29b83f16a50450695071eaf12641d04b83b8abc93cd1367b6b8b5576
+size 4274
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0006/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0006/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0007/events.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0007/events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a647b9718668e20ffb410bd19460a71f8307e1b5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0007/events.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cbc3496a45ea22dc0100d28ba1916a06484ed558a6dcf2b81a00dd4b5bab1d5
+size 59181162
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0007/network_timing.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0007/network_timing.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..162cd3ce8544371ae1a6d0a89a16813d7cbb28f3
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0007/network_timing.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:814f97322c6cf495b98d22027bad783366da0abfa86c5cf845d2f41b53cf8c1c
+size 10524
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0007/stderr.log b/harness_robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval/episode-0007/stderr.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/env_cfg.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f3704302d140cbd694725312ea3cd3b3b119138
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/env_cfg.json
@@ -0,0 +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:5", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/rubiks_cube_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}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.44258353114128113, 0.12658219039440155, 0.07732785493135452], "rot": [0.9999999403953552, -5.875354421326538e-05, -0.0003236202968188691, -0.00010501052579296266], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "rubiks_cube": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "spawn": null, "init_state": {"pos": [0.4306528866291046, -0.09742811322212219, 0.08113233000040054], "rot": [0.9999990463256836, -0.0009071399440944852, 0.0010379400315123045, 8.441170612118017e-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": [0.538878858089447, -0.07555567473173141, 0.0684281587600708], "rot": [0.9999781250953674, -0.002664888769974798, -0.006051987813043361, 0.00014540326035168], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [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": [0.19858434796333313, 0.02206825464963913, 0.05000072345137596], "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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube", "/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__rubiks_cube": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/rubiks_cube"], "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_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_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_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}}}}, "rubiks_cube__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "rubiks_cube__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "rubiks_cube__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/rubiks_cube", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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_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_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_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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:objects_placed_in_container_in_order", "params": {"objects": ["banana", "rubiks_cube"], "container": "bowl", "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 0x7f15625fd300>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f15625fd120>, 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"}, {"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7f15625fd300>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7f15625fd120>, object='rubiks_cube', 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": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "BananaThenRubiksCubeTask", "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": "put the banana then the cube in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "put the banana then the cube in the bowl", "vague": "put banana then cube away", "specific": "First pick up the yellow banana and place it in the bowl, then pick up the rubiks cube and place it in the bowl after"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8881a63c64e103007d0220b95523ca8bc992e6a9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 205, "events": [{"step": 40, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 68, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 74, "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": 100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 100, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 101, "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": 103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 103, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 104, "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": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 121, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 156, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 156, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 162, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 162, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 168, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 201, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c3392a7b2cbd7e53dd4c38e6574385a0becc8d9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 1, "success": true, "final_step": 337, "events": [{"step": 27, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 116, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 132, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 138, "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": 144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 145, "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": 185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 185, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 229, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 229, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 232, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 232, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 327, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..91a6918a3bfb188e0d08206183a28b2ac31c99e1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 2, "success": true, "final_step": 309, "events": [{"step": 89, "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": 108, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 127, "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": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 147, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 162, "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": 201, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 201, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 257, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 265, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 306, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 306, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 307, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..359a4d9abf305a35d590449e67206bb0a59808c9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b884312b555e71908552d4a677633daba3a6b489f3afb9924cfb985c1e138a2f
+size 3665476
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2e06b338dd585ab9b48777165695cfc5ee04ee0
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3c77dc436e9796fc3ccd6a5e8292a407f727fd8101257fb4d3488f27b375651
+size 1173579
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7132ea80a43c1197b11e2b93f74cdbf9f7a3e675
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e78338a0f7fc96aa6d4803b70d9e3fcfb5a01789a63c21936239682fb01535e
+size 6033113
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c974bb61934f50408dd4be9a08267d79e9f2c15
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2da521e281ef016b20a9ae22a2dfa3ef5c5c6ddba6ff74861c56b16d6e168ab
+size 1513277
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21853d9f5422ce625301432a257349c092f19d7d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9bdad9a96fafd48aaf47c796b339a238e056611fce30b9a7c3e4f397f0b718e
+size 5345967
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a194131f561db1a5164c5ddb2802e288de958a4
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5553c0c05b87c273e904504b605313d677a0a8db3af06e8767a9e42b5c82f7b4
+size 1336236
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ed68fca8529e14232d7ab7efba3b671da77f9cbf
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e31a8e2941be26f154b0b52cdd484187b6e09c320ecc81743477cd5e44d7266a
+size 250209
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e67042b9760e9716bfd521a2b64aa59b7596afd2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a9c11efac54214166c4a8ef17b88665bd7a513b4fce2260bbde353035fb3ab7
+size 293659
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..18adaef87864d93820e7975a2b513eb9eed3a489
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BananaThenRubiksCubeTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcee743cc3c411712dbdb606e652b0791da55c8e8474aa9f1365b10634df5069
+size 284991
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1c1728b4788742606bd52dd3324e1ea5580fec1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cd73357fbe2e168b84d8dfb166599ca8a91d1164d77f17cb22080c822438a00
+size 7499654
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc2812201003c03c5d3f9959859f8e67d678f671
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ddac317cb6e259ca1dfeebc8fa870940d43053d58c95302c8b49a6f477b2b7
+size 1701607
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0ea25454482332bac3a73342b1340523530aeaf
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfd1b798d246283f94dd344affd4d29002f26be0c6e270c0e607129d26d91062
+size 7790593
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2631dcdc2d18571627fd1fe2e7e3f2ee3460b4b9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b4fdc2d3eef86469dd463170639128daa056c2d0ed564355f283222ddde9df7
+size 1570132
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f82f55d75017ee609007a364a3d4bef07571aaaf
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1522a3ab248d3990f254923db7f7c429516acee989ac74062178d2bc1947a0e0
+size 7317118
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bc72ebad01ff04155319000a54e451b653d8165
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/Stack_the_blocks_in_the_order_from_bottom_to_top_red_blue_green_yellow_2_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:011b6ce8050b7035ba8a89800823e2b7c7f4b08275a902ff8b9efe8f1d494ce7
+size 1622820
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/env_cfg.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..2689b926a75962e25eec7d74014303cbe587b757
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/env_cfg.json
@@ -0,0 +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:5", "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, "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_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, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false}, "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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/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-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/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": "/data/NTU_slab/draven/proj/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": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/colored_blocks.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": [0.5471952557563782, -5.710670302505605e-05, -0.3470016121864319], "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}, "blue_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/blue_block", "spawn": null, "init_state": {"pos": [0.4601268470287323, 1.1039082892239094e-07, 0.026294255629181862], "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}, "green_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/green_block", "spawn": null, "init_state": {"pos": [0.36935505270957947, 0.18831472098827362, 0.02629413641989231], "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}, "red_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/red_block", "spawn": null, "init_state": {"pos": [0.371458500623703, -0.1741129755973816, 0.02629457786679268], "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}, "yellow_block": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/yellow_block", "spawn": null, "init_state": {"pos": [0.4753357470035553, 0.11556775867938995, 0.02629409171640873], "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}, "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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block", "/World/envs/env_.*/scene/blue_block", "/World/envs/env_.*/scene/green_block", "/World/envs/env_.*/scene/yellow_block"], "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__red_block": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/red_block"], "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__blue_block": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "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__green_block": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "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__yellow_block": {"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_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "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_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}}}}, "red_block__blue_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/blue_block"], "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}}}}, "red_block__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "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}}}}, "red_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "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}}}}, "red_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/red_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "blue_block__green_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/green_block"], "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}}}}, "blue_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "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}}}}, "blue_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/blue_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "green_block__yellow_block": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/yellow_block"], "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}}}}, "green_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/green_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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}}}}, "yellow_block__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/yellow_block", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "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": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": 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, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 90, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:stacked", "params": {"objects": ["red_block", "blue_block", "green_block", "yellow_block"], "order": "bottom_to_top"}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fd968e94180>, objects=['red_block', 'blue_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fd968e94180>, objects=['blue_block', 'green_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7fd968e94180>, objects=['green_block', 'yellow_block'], order='bottom_to_top')", 1.0]]}, "score": 0.34, "logical": "all", "K": null, "name": "unnamed_subtask"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "complex"], "_task_attributes": ["stacking", "color", "complex"], "_task_name": "BlockStackingSpecifiedOrderTask", "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": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "vague": "Stack in the order of red, blue, green, yellow", "specific": "Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7e48e7ef3ea0f96ffb3045970fbc517236b6977
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": true, "final_step": 323, "events": [{"step": 42, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 68, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 81, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 81, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 105, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.179m", "score": 0.0}, {"step": 132, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 137, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 185, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 187, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 188, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 189, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 229, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 233, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 233, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.384m", "score": 0.66}, {"step": 281, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 288, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 323, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4282a442b68dbbdda2a97582925cf0219e89e9b2
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 1, "success": true, "final_step": 324, "events": [{"step": 73, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 113, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.217m", "score": 0.0}, {"step": 128, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 129, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 185, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 185, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 223, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 225, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 225, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.348m", "score": 0.66}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 273, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 279, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 280, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 324, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce22d5c4f0172026c9c08b46f839081d0895de6a
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 2, "success": true, "final_step": 321, "events": [{"step": 42, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 65, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 65, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 117, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 121, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.188m", "score": 0.33}, {"step": 186, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 186, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 230, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 233, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 234, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.364m", "score": 0.66}, {"step": 271, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 281, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 321, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..72fa8d489fb9ae2b842ba400dbc9cdb33fdaa383
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d24b35eb6fbb79daf090d95a3eaaf21484f1b4d6d9a5f7b725b7df0f3608446
+size 323760
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e9ed9abfddfea570cdfa6165968959c034ccf452
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:467daf4b2c14ff8254fd56514ca14a773cf7818ba2226ea3ae624a4485d99f33
+size 324429
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ace9ab3cc3fe291d90037fd19c1d74697bedc669
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/BlockStackingSpecifiedOrderTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d9952ca01f79f43451abe3bee2889289227d72574aadf9dd74762037d44d89
+size 322517
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb2e14aea7f76d8e4f2af6b037d6d0a6d07411d5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee87d8bbe3060b8a256e5495c9b915efd87b58e7972b7875face8a6b0a1c270c
+size 1795810
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d426949587ed1a5db3404acf82734bb25cf90e56
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_0_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b487b122fc1a4af18631f6e9d9b6f3ccd0cec64384a80a72d4a67b3aaa3547d
+size 472221
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e55ba234817afdcfc7351e85734a417c76550938
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88467a6895aff5af8f1a1fedbfd859611b9fe392598b9bfa38a073d930e4e7f7
+size 1725690
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1_viewport.mp4 b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1_viewport.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee1072f93b9c9b377987c66765d267aefd4da122
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FoodPacking1CansTask/Pack_canned_foods_into_the_bin_1_viewport.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:632ee3b4022ea637628166fa2a0120d7e95985fe83bc122b69379da81633385d
+size 411241